5_5

Mono-VO

Original repository: https://github.com/avisingh599/mono-vo

• Uses KITTI dataset
• Detects FAST keypoints and tracks them using KLT tracker
• Estimates camera motion using Essential Matrix
• Scale recovery via Ground truth motion data

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How to build

Requirements: OpenCV4

mkdir build
cd build
cmake ..
make

docker build -t slam:5:5
docker run -it --env DISPLAY=$DISPLAY -v /kitti/:/data -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:5_5

How to run

./vo path_to_image_folder path_to_gt_motion_txt_file

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Output

• On line 211, if you swap the code to int y = int(-t_f.at<double>(2)) + 500;, then you can get the correct direction for the trajectory.