zoumaguanxin / visual_odom

This repository is C++ OpenCV implementation of Stereo Odometry

Stereo Visual Odometry

This repository is C++ OpenCV implementation of Stereo Visual Odometry, using OpenCV calcOpticalFlowPyrLK for feature tracking.

Reference Paper: https://lamor.fer.hr/images/50020776/Cvisic2017.pdf

Demo vedio: https://www.youtube.com/watch?v=Z3S5J_BHQVw&t=17s

Requirements

OpenCV 3.0

Dataset

Tested on KITTI odometry dataset

Compile & Run

git clone https://github.com/ZhenghaoFei/visual_odom.git

The system use Camera Parameters in calibration/xx.yaml, put your own camera parameters in the same format and pass the path when you run.

mkdir build
cd build
cmake ..
make -j4
./run /PathToKITTI/sequences/00/ ../calibration/kitti00.yaml

GPU CUDA acceleration

Thanks to temburuyk, the most time consumtion function circularMatching() can be accelerated using CUDA and greately improve the performance.
To enable GPU acceleration

1. Make sure you have CUDA compatible GPU.
2. Install CUDA, compile and install CUDA supported OpenCV
3. Change gpu_build to 1 in /src/feature.h
4. Compile & Run

Reference code

1. Monocular visual odometry algorithm

2. Matlab implementation of SOFT