Keywords: FAST Feature Detection, LK Feature Tracking, Five-Point Motion Estimation
port from https://github.com/yueying/LearningVO
- Python 2.7
- Numpy
- OpenCV
KITTI odometry data set (grayscale, 22 GB)
Modify the path in test.py to your image sequences and ground truth trajectories, then run
python test.py
- 一个简单的视觉里程计实现 | 冯兵的博客
- 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