simple visual odometry in python (now with with pose graph optimization!) [fake news without other measurements]
to see dead simple VO, check out the vopy_old branch
- Shi-Tomasi Corner Detection (Good Features to Track)
- ORB Descriptor Extraction
- Brute Force K-Nearest Neighbors Search (Feature Matching)
- RANSAC 5-point Essential Matrix Estimation
- Decompose Essential Matrix into a pose(Rt) matrix
- output pose
- writeup
- merge with ficiciSLAM
- opencv
- numpy
- pangolin (uoip fork)