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https://github.com/uzh-rpg/rpg_svo

Semi-direct Visual Odometry
https://github.com/uzh-rpg/rpg_svo

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Semi-direct Visual Odometry

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SVO

===



This code implements a semi-direct monocular visual odometry pipeline.



Video: http://youtu.be/2YnIMfw6bJY



Paper: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf



#### Disclaimer



SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed.



#### Licence



The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info.



#### Citing



If you use SVO in an academic context, please cite the following publication:



    @inproceedings{Forster2014ICRA,

      author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide},

      title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry},

      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},

      year = {2014}

    }

    

    

#### Documentation



The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/



#### Instructions



See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki



#### Contributing



You are very welcome to contribute to SVO by opening a pull request via Github.

I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide