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README.md

Keywords: FAST Feature Detection, LK Feature Tracking, Five-Point Motion Estimation

port from https://github.com/yueying/LearningVO

map

Requirements

  • Python 2.7
  • Numpy
  • OpenCV

Dataset

KITTI odometry data set (grayscale, 22 GB)

Usage

Modify the path in test.py to your image sequences and ground truth trajectories, then run

python test.py

References

  1. 一个简单的视觉里程计实现 | 冯兵的博客
  2. Monocular Visual Odometry using OpenCV and its related project report Monocular Visual Odometry | Avi Singh

Search "cv2.findEssentialMat", "cv2.recoverPose" etc. in github, you'll find more python projects on slam / visual odometry / 3d reconstruction

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A simple monocular visual odometry project in Python

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