pangxiansen123 / Visual_Odometry-LoopDetection

visual odometry loop detection using DBoW2

Visual Odometry Loop Detection

🛠️ Introduction

This repository is Loop Detection at Visual Odometry. I use mez/monocular-visual-odometry and dorian3d/DBoW2

🛠️ Settings

Settings	Version
OS	Ubuntu 20.04
Language	C++
IDE	VS code
DBow	DBoW2
OpenCV	4.4.0

🛠️ Test

Before Test

• KITTI dataset visual Odometry(gray scale(22GB), calibration files(1MB), truth poses(4MB), devkit(1MB))
• OpenCV
• DBoW2
• edit code (KITTI dataset download location)(P0 camera, 00 sequence)

Takes a lot of time to Test (about 40m)

git clone https://github.com/SanghyunPark01/Visual_Odometry-LoopDetection.git

cd Visual_Odometry-LoopDetection
mkdir build
cd build
cmake ..
make

./VOLD

🛠️ Result

• Green : truth
• Red : visual odometry
• Blue : loop detection