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Monocular Visual Odometry (VO) system written in C++

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MonoVO

Monocular Visual Odometry (VO) system written in C++.

To Build:

  1. git clone https://github.com/tjchase34/MonoVO.git
  2. cd MonoVO/
  3. mkdir build
  4. cd build/
  5. cmake ..
  6. make

To Run:

From the root project directory:

  • ./build/MonoVO [INPUT IMAGE FOLDER] [OUTPUT POSE SERIES FILENAME] [NUM FRAMES] [KEYFRAME NUM]

Example run with KITTI images (sequence 00) at /mnt/d/Shared/data/images/, processing the first 500 frames, and selecting every 10th frame as a keyframe:

  • ./build/MonoVO /mnt/d/Shared/data/images/ pose_results.txt 500 10

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