Lightweight Visual Tracking: A multipurpose visual odometry system.
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examples Initial commit. Aug 8, 2018
lvt Initial commit. Aug 8, 2018
CMakeLists.txt Initial commit. Aug 8, 2018
LICENSE Update LICENSE Aug 8, 2018 Update Sep 10, 2018


Lightweight Visual Tracking (LVT) is a real-time feature-based visual odometry system, supporting both Stereo and RGB-D sensors. The system is described in the following paper:

Mohamed Aladem and Samir A. Rawashdeh, "Lightweight Visual Odometry for Autonomous Mobile Robots". Sensors 2018, 18(9).

A video demonstrating the system:

LVT demo


LVT uses CMake build system. It was built successfully on Linux Ubuntu 16.04 and Windows 10 using MSVC 2017. The build dependencies are:

Building then proceeds like any typical CMake-based project using the provided top-level CMakeLists file, which will generate lvt as a static library, lvt_c which is a C-interface for lvt as a shared library, and the executable example projects in their source directories.

Using ROS

LVT optionally supports the Robot Operating System (ROS) and can build a node compatible with it. It was tested and working successfully with ROS Kinetic Kame. The subdirectory lvt is actually a compatible ROS package which can be copied into your workspace and built directly using catkin.