Dean VO

Purpose

This implementation of Visual Odometry is meant to be modular enough to replace, add, and experiment with the different components of visual odometry.

Building

Requirements

• OpenCV (I am using 4.2 but most versions should work)
• cmake

$ cd dean-vo
$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./vo <argument>

Things to experiment with

• How to move data and images through the VO pipeline
  • Gstreamer, Pipes, Localhost
• Feature detection techniques
• Feature matching and tracking techniques
• Motion Estimation
• Constraining motion to 2D space
• Robust estimation (RANSAC)
• Error Propagation
• Camera-pose optimization (bundle adjustment)
• Loop Closure

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Resources:

• Scaramuzza Tutorial on Visual Odometry
• Vishal's Feature Extractor
• Stereo Image Lecture - stereo with calibrated cameras
• Essential and Fundamental Matrices - Penn State
• FINDING OPTIMAL ROTATION AND TRANSLATION BETWEEN CORRESPONDING 3D POINTS
• Introduction to Visual Odometry - Karel Zimmermann
• Two-View Geometry - George Mason University