Skip to content

kangqi-ni/stereo-vo

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

12 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Stereo Visual Odometry on KITTI datasets

This project implements a basic stereo visual odometry on kitti datasets for learning purposes.
Its simple pipeline includes fundamental components of a working visual odometry.

To use this code with a kitti sequence, specify the path to the kitti sequence in config/config.yaml.
config/config.yaml also contains the parameters to configure the algorithm.
Then run ./bin/run_kitti in the terminal.

Please check CMakeLists.txt for dependencies.

Visualization: Visualization

References:
[1] Mur-Artal, R., Montiel, J. M. M. & Tardós, J. D. (2015). ORB-SLAM: a Versatile and Accurate Monocular SLAM System. CoRR, abs/1502.00956.
[2] Xiang, Gao. (2018). Slambook2. https://github.com/gaoxiang12/slambook2.

About

A Stereo Visual Odometry on KITTI dataset

Topics

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published