panpanyunshi / visual_odom

This repository is C++ OpenCV implementation of SOFT (Stereo Odometry based on careful Feature selection and Tracking)

Stereo Visual Odometry

This repository is C++ OpenCV implementation of SOFT (Stereo Odometry based on careful Feature selection and Tracking)

Original Paper: https://lamor.fer.hr/images/50020776/Cvisic2017.pdf

Demo vedio: https://www.youtube.com/watch?v=Z3S5J_BHQVw&t=17s

Requirements

OpenCV 3.0

Eigen 3.34

Dataset

Tested on KITTI odometry dataset

Compile & Run

git clone https://github.com/ZhenghaoFei/visual_odom.git

The system use Camera Parameters in calibration/xx.yaml, put your own camera parameters in the same format and pass the path when you run.

mkdir build
cd build
cmake ..
make -j4
./run /PathtoKITTI/sequences/00/ ../calibration/kitti00.yaml

Reference code

1. Monocular visual odometry algorithm

2. Matlab implementation of SOFT