Range flow odometry
This package implements a range flow and dense visual based odometry estimation method using RGBD image. It works well in dark environments.
Related Paper:
- Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments, JFR 2017, ICRA 2015, Z. Fang, S. Yang, et al. S. Scherer PDF
If you use the code in your research work, please cite the above paper. Please do not hesitate to contact the authors if you have any further questions.
Usage
catkin_make to compile. See launch file for instructions.
Subscribe topic:
RGBD image input: /camera/rgb/image_rect /camera/depth/image_rect /camera/depth/camera_info
Output:
Odometry pose and transform (ros tf) between camera_init and camera
Author & Contacts
Zheng Fang(fangzheng@mail.neu.edu.cn), Shichao Yang(shichaoy@andrew.cmu.edu), Sebastian Scherer(basti@andrew.cmu.edu)