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This is an OpenCV 3.0 and Ceres(is optional) based implementation of a stereo visual odometry algorithm.

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StereoVO

This is an OpenCV 3.0 and Ceres(is optional) based implementation of a stereo visual odometry algorithm.

here is a blog post

image

Requirements

  • OpenCV
  • Ceres(if you do not want to optimize the PNP result, you can remove all ceres code)

How to compile?

mkdir build
cd build
cmake ..
make

How to run?

cd ${PROJECT_SOURCE_DIR}/bin
./KITTI

Before you run

In order to run this algorithm, you need to have either your own data, or else the sequences from KITTI's Visual Odometry Dataset . In order to run this algorithm on your own data, you must modify the intrinsic calibration page path in the code.

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This is an OpenCV 3.0 and Ceres(is optional) based implementation of a stereo visual odometry algorithm.

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