Calculates vehicle odometry based on camera image. Easy, fast and simple.
Detects features in an image region (e.g. road surface). Features are tracked over two consecutive images. Feature points are transformed into the world coordinate system using a homography transformation. Movement of vehicle is being computed using SVD for transformed feature points.
Image region where features are detected should be on a plain surface (e.g. road). This region must contain some distinct features in order to calculate the odometry information.
Most parts are ported from LMS visual odometry