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CamAdj (Matlab demo code for paper: Filtering 2D-3D Outliers by Camera Adjustment for Visual Odometry)

We provided the necessary details to conduct and understand the demo code provided along with this supplementary document. The folder structure is give in follow:

.\Matlab code
   \CamAdjETH3D
	\datasets 				# we provide sampled data, more data can be download from: https://www.eth3d.net/datasets
	\functions
	\results
	outlierFiltration.m 			# run this script for paper Tab.I
  	poseEstimationFor3rdView.m 		# run this for paper Tab.II and Fig. 6
	twoView3DReconstruction.m		# paper Section VI.A  
	twoViewPoseEstimation.m		# paper Section VI.B 

# Visual Odometry demo (paper Section VI.C) 
   \CamAdjEuRoC
	\euroc					# please download rosbag from the EuRoC MAV dataset: https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
	\functions
	euroc_demo.m				# run this script for paper Section VI.C

Example

Run "euroc_demo.m" in \CamAdjEuRoC, you will see the following results: VO trajectory visualization VO result evaluation

Cite

@ARTICLE{10138109, author={Duan, Ran and Paudel, Danda Pani and Wen, Chih-Yung and Lu, Peng}, journal={IEEE Transactions on Instrumentation and Measurement}, title={Filtering 2D-3D Outliers by Camera Adjustment for Visual Odometry}, year={2023}, volume={}, number={}, pages={1-1}, doi={10.1109/TIM.2023.3280507}}