Monocular Visual Odometry

This package is a simple implementation of a complete Monocular Visual Odonetry pipeline with the most essential features, viz. initialization of 3D features, feature tracking between two frames, pose estimation using 2D<->3D correspondences and triangulation of new landmarks.

Videos

<a href="https://www.youtube.com/embed/t6wC1vPhBfQ" target="_blank"><img src="http://img.youtube.com/vi/t6wC1vPhBfQ/0.jpg" alt="offroad" width="320" height="240" border="10" /></a> <a href="https://www.youtube.com/embed/3ZPp9PxQwT0" target="_blank"><img src="http://img.youtube.com/vi/3ZPp9PxQwT0/0.jpg" alt="kitti" width="320" height="240" border="10" /></a>

Datasets

A bag file from the kitti dataset can be found here

Launch Instructions

For kitti dataset

  roslaunch odometry odometry_kitti_node.launch

For Basler dataset

  roslaunch odometry odometry_pylon_node.launch