https://github.com/mayankm96/mono-odometry
MATLAB Implementation of Monocular Odometry
https://github.com/mayankm96/mono-odometry
monocular robotics visual-odometry
Last synced: 11 months ago
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MATLAB Implementation of Monocular Odometry
- Host: GitHub
- URL: https://github.com/mayankm96/mono-odometry
- Owner: Mayankm96
- Created: 2018-11-23T15:46:53.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2019-01-07T15:56:58.000Z (over 7 years ago)
- Last Synced: 2025-05-02T02:38:59.980Z (about 1 year ago)
- Topics: monocular, robotics, visual-odometry
- Language: MATLAB
- Homepage: http://rpg.ifi.uzh.ch/teaching.html
- Size: 3.16 MB
- Stars: 9
- Watchers: 3
- Forks: 7
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Mono-Odometry
This repository is a basic MATLAB implementation of monocular visual odometry. The code has been tested on [MATLAB R2018a](https://in.mathworks.com/?s_tid=gn_logo).
The project has been done by the following:
* Hao-Chih Lin
* Mayank Mittal
* Chen-Yen Kao
Demonstration video is available [https://youtu.be/trbBh8Rjc4s](https://youtu.be/trbBh8Rjc4s).
## System Configuration
```
CPU: Intel(R) Core(TM) i7-8750H CPU @ 2.20GHz
Memory: 16 GB @ 1333 MHz
- 8192 MB, DDR4-2667, Samsung M471A1K43CB1-CTD
- 8192 MB, DDR4-2667, Samsung M471A1K43CB1-CTD
Graphics: NVIDIA GeForce GTX 1070 with Max-Q Design, 8192 MB
Graphics: Intel(R) UHD Graphics 630, 1024 MB
```
## How to run the repository?
1. Clone the repository using the following command:
```
git clone https://github.com/Mayankm96/Mono-Odometry.git
```
2. Import the dataset to the folder [`data`](data). In case you wish to use the [KITTI](http://www.cvlibs.net/datasets/kitti/) Dataset, such as the [Residential dataset](http://www.cvlibs.net/datasets/kitti/raw_data.php?type=residential), the following command might be useful:
```bash
cd PATH/TO/Mono-Odometry
## For Reseidential Sequence: 61 (2011_09_46_drive_0061)
# synced+rectified data
wget -c https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0009/2011_09_26_drive_0009_sync.zip -P data
# calib.txt
wget -c https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip -P data
```
3. Change the corresponding paramters in the configuration file [`configFile.m`](code/config/configFile.m) according to your need
4. Run the script [`main.m`](code/main.m) to get a plot of the estimated odometry