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

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

Last synced: about 22 hours ago
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Semi-direct Visual Odometry

• Host: GitHub
• URL: https://github.com/uzh-rpg/rpg_svo
• Owner: uzh-rpg
• License: gpl-3.0
• Created: 2014-03-12T15:39:33.000Z (almost 11 years ago)
• Default Branch: master
• Last Pushed: 2019-08-22T21:27:36.000Z (over 5 years ago)
• Last Synced: 2025-01-18T00:04:35.947Z (8 days ago)
• Language: C++
• Size: 2.21 MB
• Stars: 2,119
• Watchers: 166
• Forks: 860
• Open Issues: 192
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• Awesome-SLAM - SVO: Semi-direct Visual Odometry

README

        
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