/Visual_Odometry-LoopDetection

visual odometry loop detection using DBoW2

Primary LanguageC++

Visual Odometry Loop Detection

🛠️ Introduction

This repository is Loop Detection at Visual Odometry. I use mez/monocular-visual-odometry and dorian3d/DBoW2

🛠️ Settings

Settings Version
OS Ubuntu 20.04
Language C++
IDE VS code
DBow DBoW2
OpenCV 4.4.0

🛠️ Test

Before Test

  • KITTI dataset visual Odometry(gray scale(22GB), calibration files(1MB), truth poses(4MB), devkit(1MB))
  • OpenCV
  • DBoW2
  • edit code (KITTI dataset download location)(P0 camera, 00 sequence)

Takes a lot of time to Test (about 40m)

git clone https://github.com/SanghyunPark01/Visual_Odometry-LoopDetection.git

cd Visual_Odometry-LoopDetection
mkdir build
cd build
cmake ..
make

./VOLD

🛠️ Result

  • Green : truth
  • Red : visual odometry
  • Blue : loop detection