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README

MINIMUM ENERGY FILTER FOR VISUAL ODOMETRY APPLICATION

If you use this code for your publication plase cite our papers:

[1] 	Berger, J.; Neufeld, A.; Becker, F.; Lenzen, F. and Schnörr, C. Second Order Minimum Energy 		Filtering on SE(3) with Nonlinear Measurement Equations. In Scale Space and Variational 		Methods in Computer Vision (SSVM 2015), 2015.

@InProceedings{Berger-et-al-2015a,
Title = {{S}econd {O}rder {M}inimum {E}nergy {F}iltering on {SE}(3) with {N}onlinear {M}easurement {E}quations},
Author	= {Berger, Johannes and Neufeld, Andreas and Becker, Florian and Lenzen, Frank and Schn{\"o}rr, Christoph},
Booktitle = {Scale Space and Variational Methods in Computer Vision (SSVM 2015)},
Year = {2015},
}


[2]		Berger, J.; Lenzen, F.; Becker, F.; Neufeld, A. and Schnörr, C. Second-Order Recursive 			Filtering on the Rigid-Motion Lie Group SE(3) Based on Nonlinear Observations., preprint.

@Misc{Berger-et-al-2015b,
  Title                    = {{S}econd-{O}rder {R}ecursive {F}iltering on the {R}igid-{M}otion {L}ie {G}roup {SE}(3) {B}ased on {N}onlinear {O}bservations},
  Author                   = {Berger, Johannes and Lenzen, Frank and Becker, Florian and Neufeld, Andreas and {Sch}n{\"o}rr, Christoph},
  Note                     = {preprint},
  Year                     = {2015},
}

======================= BUILDING INSTRUCTIONS ===========================

0. Preliminaries: For the compilation of the code we require the Eigen3 library. On Ubuntu systems it can be installed via

sudo apt-get install libeigen3-dev

1. For downloading this code form github, go to your command line ans insert
git clone https://github.com/johberger/MEF_Odometry.git

Note that git must be installed to do this. (sudo apt-get install git)

2. Go into the directory MEF_Odometry
cd MEF_Odometry

3. Open matlab
path_to_matlab/matlab &

4. In matlab compile the mex file by running make.m
make

5. now you can run the main file with a working example by typeing in matlab
main



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