This software is for the demonstration of biologically inspired visual odometry based on the computational model of grid cells, which is developed based on the the source code of the computational model of grid cells: http://clm.utexas.edu/fietelab/code.htm, and LIBVISO2: http://www.cvlibs.net/software/libviso/.
We would like to thank Y. Burak and I. R. Fiete for their release of the source code about continuous attractor network model of grid cells, Andreas Geiger for his release of LIBVISO2.
More details about the biologically inspired visual odometry can be found at: Huimin Lu, Junhao Xiao, Lilian Zhang, Shaowu Yang, Andreas Zell. Biologically Inspired Visual Odometry Based on the Computational Model of Grid Cells for Mobile Robots. Proceedings of the 2016 IEEE Conference on Robotics and Biomimetics, Qingdao, China, December 3~7, 2016.
If you find this software useful or if you use this software for your research, we would be happy if you cite the publication mentioned above.
For testing this software, you could run demo_viso_stereo_nudt.m or demo_viso_stereo_kitti.m
If you run demo_viso_stereo_nudt.m, please download the nudt dataset from:
https://github.com/nubot-nudt/Biologically-Inspired-Visual-Odometry-data
If you run demo_viso_stereo_kitti.m, please download the dataset such as '2009_09_08_drive_0021' from http://www.cvlibs.net/software/libviso/
Any comment or suggestion is welcome, and please send any feedback and bugreports to Huimin Lu, lhmnew@nudt.edu.cn