mono_vo_ros

This is an OpenCV 3.0 based implementation of a monocular visual odometry algorithm.
Note that this project is not yet capable of doing reliable relative scale estimation, so the scale informaion is extracted from the KITTI dataset ground truth files.

Before you run

In order to run this algorithm, you need to have either your own data, or else the sequences from KITTI's Visual Odometry Dataset.
In order to run this algorithm on your own data, you must modify the intrinsic calibration parameters in the code.

How to compile

install mono_vo_ros

$ mkdir -p ros_ws/src && cd ros_ws/src
$ git clone https://github.com/JEFFCHANG0501/mono_vo_ros.git
$ cd ../ && catkin_make

$ roslaunch mono_vo_ros mono_vo_ros.launch

Performance