This project implements a basic stereo visual odometry on kitti datasets for learning purposes.
Its simple pipeline includes fundamental components of a working visual odometry.
To use this code with a kitti sequence, specify the path to the kitti sequence in config/config.yaml.
config/config.yaml also contains the parameters to configure the algorithm.
Then run ./bin/run_kitti in the terminal.
Please check CMakeLists.txt for dependencies.
Visualization:
References:
[1] Mur-Artal, R., Montiel, J. M. M. & Tardós, J. D. (2015). ORB-SLAM: a Versatile and Accurate Monocular SLAM System. CoRR, abs/1502.00956.
[2] Xiang, Gao. (2018). Slambook2. https://github.com/gaoxiang12/slambook2.