gaochq / DSDTM

DSDTM is a semi-direct RGB-D visual odometry for dynamic environment.

DSDTM

DSDTM is a semi-direct rgbd visual odometry for dynamic environment.

Dependencies

• Opencv 2.4.13
• Eigen3.2.0
• Sophus 1.0.0
• Ceres
• glog

sudo apt-get install libgoogle-glog-dev

• Pangolin 0.5
• Fast - Corner Detector
• fastMCD

The project is tested with TUM RGBD datasets. And it is still undergoing.