Prerequisites:

Download the Visual Odometry dataset from Kitti Vision Benchmark Suite http://www.cvlibs.net/download.php?file=data_odometry_gray.zip
Download the Visual Odometry poses data http://www.cvlibs.net/download.php?file=data_odometry_poses.zip
Download the repository and extract it.
Download and install opencv (with opencv_contrib) with python 3.5+
Extract the dataset and poses data in the repository folder

Testing the code

Run test.py

Blue: Ground Truth
Red: Experimental Results

Name		Name	Last commit message	Last commit date
Latest commit History 8 Commits
Features.png		Features.png
README.md		README.md
VO.png		VO.png
test.py		test.py
visual_odometry.py		visual_odometry.py