https://github.com/kemfic/vopy

simple visual odometry in python
https://github.com/kemfic/vopy

computer-vision opencv opencv-python opencv3 opencv3-python python robotics slam visual-odometry

Last synced: 20 days ago
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simple visual odometry in python

• Host: GitHub
• URL: https://github.com/kemfic/vopy
• Owner: kemfic
• License: mit
• Created: 2019-05-06T00:55:02.000Z (almost 6 years ago)
• Default Branch: master
• Last Pushed: 2019-07-26T10:51:09.000Z (over 5 years ago)
• Last Synced: 2024-11-21T08:02:38.804Z (3 months ago)
• Topics: computer-vision, opencv, opencv-python, opencv3, opencv3-python, python, robotics, slam, visual-odometry
• Language: Python
• Size: 1.48 MB
• Stars: 4
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: readme.md
  • License: LICENSE

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README

        
# VOpy

simple visual odometry in python ~~(***now with with pose graph optimization!***)~~ [fake news without other measurements] 

  to see dead simple VO, check out the vopy_old branch



  

  



pipeline

---

 - Shi-Tomasi Corner Detection (Good Features to Track)

 - ORB Descriptor Extraction

 - Brute Force K-Nearest Neighbors Search (Feature Matching)

 - RANSAC 5-point Essential Matrix Estimation

 - Decompose Essential Matrix into a pose(Rt) matrix

 - output pose

todo

---

 - writeup

 - merge with ficiciSLAM

dependencies

---

 - opencv

 - numpy

 - [pangolin (uoip fork)](https://github.com/uoip/pangolin)