visual odometry

This is an OpenCV 3.4 implementation on KITTI's Visual Odometry Dataset (greyscale)

Method

2D-2D Monocular VO and 2D-3D Stereo VO
Implemenation details in report

Compile

In 2 directory:

mkdir build
cd build
cmake ..
make

Run

After compilation, in the build directly
Mono

./vo [sequence ID] [dataset directory]

Stereo

./vo [sequence ID] [max frame] [optimize frame] [dataset directory]

Performance