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Direct Stereo Visual Odometry

Introduction

This is an implemetation of direct stereo visual odometry based on G2O and Opencv.

  • Track new frame with direct image alignment
  • Sliding window Bundle Adjustment minimizing photometric error [Doing]
  • Initialize depth with fixed baseline stereo image and update with triangulation [Doing]

Usage

  1. Place images under your data folder which contains two sub_folders image_2 and image_3
  2. Edit config file refer to config/default.ini
  3. compile and run with
./run_vo config/default.ini

Result