srujanpanuganti / visual_odometry

implementation of Visual SLAM using Python

Project - Visual Odometry

This project is an implementation of Visual Odometry - Classical Approach

Visual Odometry Demo, Source: gfycat

Dataset

The Project performs the Visual Odometry on Oxford dataset available at: https://robotcar-dataset.robots.ox.ac.uk/documentation/

The dataset can be downloaded using this link https://drive.google.com/drive/folders/1f2xHP_l8croofUL_G5RZKmJo2YE9spx9

Project dependencies

• Python 3.7
• opencv 3.4.2
• Oxford Dataset

Executing the project

From the src directory run the following command

src/python3 visual_odom.py

Point Correspondences after RANSAC

Point correspondences between successive frames

Refrences

The following educational resources are used to accomplish the project: https://cmsc426.github.io/sfm/

Results

The project currently doesn't produce any visual results