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Visual_Odometry

Visual Odometry is a method of finding a robot/camera pose i.e translation and orientation of the robot/camera with respect to the the world frame using camera data

Dependencies

The following dependencies must be installed.

  1. python3.5 or above
  2. numpy
  3. opencv 3.4

Build Instructions

copy Oxford_dataset folder to VisualOdometry directory Run the following command for Visual odometry

python3 main.py

To run the visual-odometry code using OpenCV default methods,

python3 visual_odometry_opencv.py

Extra Credits

The the following command to compare with Inbuilt OpenCV Functions.

python3 comparison.py

Install Instructions

pip install opencv-python==3.4.2.16
pip install opencv-contrib-python==3.4.2.16

Output

https://drive.google.com/drive/folders/1c5nXz3IS5e1MUWTt3QdQY18DL6Rtn25n?usp=sharing