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C++ ROS implementation of 5-DoF Monocular Visual Localization Over Grid Based Floor
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Readme.md

5-DoF monocular visual localization over grid based floor (MLOG)

Metric-scale and bounded-drift localization of MAV with downward facing monocular camera. Aerial Robotics Laboratory, Indian Institute of Technology Kharagpur.

Check out our YouTube-Video, showing MLOG in Action
Joint Point Cloud and Image Based Localization For Efficient Inspection in Mixed Reality

Publication

If you use this code in an academic context, please cite the following IPIN 2017 paper.

Manash Pratim Das, Gaurav Gardi, Jayanta Mukhopadhyay: 5-DoF monocular visual localization over grid based floor, 2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

@inproceedings{das20175,
  title={5-DoF monocular visual localization over grid based floor},
  author={Das, Manash Pratim and Gardi, Gaurav and Mukhopadhyay, Jayanta},
  booktitle={Indoor Positioning and Indoor Navigation (IPIN), 2017 International Conference on},
  pages={1--7},
  year={2017},
  organization={IEEE}
}

Dependencies: OpenCV, Ceres-Solver, OpenMP. Run as ROS package

Contact: Manash Pratim Das (mpdmansh @ gmail . com)

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