Monocular Visual Odometry

This package is a simple implementation of a complete Monocular Visual Odonetry pipeline with the most essential features, viz. initialization of 3D features, feature tracking between two frames, pose estimation using 2D<->3D correspondences and triangulation of new landmarks.

Videos

Datasets

A bag file from the kitti dataset can be found here

Launch Instructions

For kitti dataset

  roslaunch odometry odometry_kitti_node.launch

For Basler dataset

  roslaunch odometry odometry_pylon_node.launch