tiny-vo

This project shows how minimum visual odometry works. Currently the process does not contain bundle adjustment.

Build

git clone --recursive https://github.com/powei-lin/tiny-vo.git
cd tiny-vo && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Resease ..
make

Download TUM-VI dataset

# https://vision.in.tum.de/data/datasets/visual-inertial-dataset
wget https://vision.in.tum.de/tumvi/exported/euroc/512_16/dataset-corridor4_512_16.tar

Run

./main -i dataset-corridor4_512_16 -c config/eucm_512.json -d config/tum_vi_dataset.json

TODO (Probably😪)

• IMU preintegration
• Bundle Adjustment
• KeyFrame