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Trained a Convolutional Neural Network (According to paper: https://arxiv.org/pdf/1902.02394.pdf#figure.4) to detect 7 key points on a cone which is ultimately used for depth estimation using a monocamera setup on a self driving car.
Map the path of the vehicle using a mono camera video frames and recreate its path in a matplotlib pyplot. It implements zhang's 8 point method with RANSAC and uses numpy matrix multiplication to speed up the process time.