https://github.com/famoreno/stereo-vo

Robust Stereo Visual Odometry
https://github.com/famoreno/stereo-vo

Last synced: about 1 month ago
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Robust Stereo Visual Odometry

• Host: GitHub
• URL: https://github.com/famoreno/stereo-vo
• Owner: famoreno
• License: lgpl-3.0
• Created: 2015-10-05T17:27:15.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2017-03-06T09:06:41.000Z (over 7 years ago)
• Last Synced: 2024-02-10T05:01:58.430Z (4 months ago)
• Language: C++
• Size: 1.97 MB
• Stars: 61
• Watchers: 8
• Forks: 27
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: COPYING

Lists

• Awesome-SLAM - Robust Stereo Visual Odometry

README

        
[![Build Status](https://travis-ci.org/famoreno/stereo-vo.svg?branch=master)](https://travis-ci.org/famoreno/stereo-vo)

# stereo-vo

A C++ library for stereo visual odometry: Robust Stereo visual Odometry (RSO). For a complete SLAM system based on this library, check out [srba-stereo-slam](https://github.com/famoreno/srba-stereo-slam).

## Documentation

* [Doxygen API reference](http://famoreno.github.io/stereo-vo/)

* References:

  * Moreno, F.A. and Blanco, J.L. and Gonzalez, J. **A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM**, International Journal of Robotics Research, 2016. (In Press)

  *  Moreno, F.A. **Stereo Visual SLAM for Mobile Robots Navigation**, PhD Thesis, 2015. ([PDF](http://mapir.uma.es/famoreno/papers/thesis/FAMD_thesis.pdf))

## Building from sources

### Prerequisites

* CMake (>=2.4.5)

* [MRPT](https://github.com/MRPT/mrpt) (>=1.0.0, recommended >=1.3.0)

* OpenCV (>=2.4.8, recommended >=3.0.0)

They can be installed in recent Debian or Ubuntu distributions (Trusty 14.04 minimum) with:

    sudo apt-get install build-essential cmake libmrpt-dev libopencv-dev

**Note:** Better efficiency can be achieved if `MRPT` and `OpenCV` are compiled from sources instead of grabbed with `apt-get` by instructing the compiler to optimize for native architecture. You can also install optimized `MRPT` builds from this [PPA repository](http://www.mrpt.org/MRPT_in_GNU/Linux_repositories).

### Compiling

As usual with CMake, create an empty build directory, call `cmake` and `make` or build from your favorite IDE (e.g. Visual Studio in Windows).