Visual-Odometry-for-Monocular-Camera

6 DOF motion estimation using monocular vision

Result

This Repository contains Linux and windows code

Linux : Tested on ROS melodic 18.04 Code is tested with Kitti dataset you can download from

http://www.cvlibs.net/datasets/kitti/raw_data.php

1. clone the repository
2. catkin_make // to build the project
3. roscore
4. source devel/setup.bash
5. rosrun point_demo point_demo.py
6. rosrun rviz rviz // to visualize

Windows :

python VO.py

Tips : make sure you are given correct path for the input images calibration parameter needs to correct one

Future Steps: extend the process to stereo camera