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Monocular Visual Odometry (VO) for over- and underwater scenario

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Visual Odometry implementation in Python

Various Results

Note: The GIFs will appear laggy until they are fully loaded. This might take a few seconds.

Orbital Sequence

Optimal Scenario Underwater Scenario
2D Trajectory 3D Trajectory
2D Trajectory 3D Trajectory

Red trajectory is estimated, and green is ground truth.

Forward Sequence

Optimal Scenario Underwater Scenario
2D Trajectory 3D Trajectory
2D Trajectory 3D Trajectory

Red trajectory is estimated, and green is ground truth.

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