A Python Visual Odometry, supports RGB-D and Stereo dataset.
This project was greatly inspired by 14 lectures on visual SLAM by Gao Xiang, without which this work wouldn't be possible.
3rd-party libraries in use: opencv, numpy, scipy, matplotlib, sophuspy.
To install opencv, numpy, scipy, and matplotlib:
pip install opencv-python
pip install numpy
pip install scipy
pip install matplotlib
To install sophuspy, go to this website.
Please begin with run_vo_stereo.py. Comment line 169-171 to disable realtime plotting for better performance.
Modify the parameters in config.py according to specific dataset.
视觉里程计毕业设计核心代码