# monoVO-python

**Repository Path**: hzm8341/monoVO-python

## Basic Information

- **Project Name**: monoVO-python
- **Description**: A simple monocular visual odometry project in Python
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-06-12
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

**Keywords:** FAST Feature Detection, LK Feature Tracking, Five-Point Motion Estimation

port from https://github.com/yueying/LearningVO

![map](map.png)

### Requirements
* Python 2.7
* Numpy
* OpenCV

### Dataset
 [KITTI odometry data set (grayscale, 22 GB)](http://www.cvlibs.net/datasets/kitti/eval_odometry.php)
 
### Usage
Modify the path in test.py to your image sequences and ground truth trajectories, then run
```
python test.py
```

### References
1. [一个简单的视觉里程计实现 | 冯兵的博客](http://fengbing.net/2015/07/26/%E4%B8%80%E4%B8%AA%E7%AE%80%E5%8D%95%E7%9A%84%E8%A7%86%E8%A7%89%E9%87%8C%E7%A8%8B%E8%AE%A1%E5%AE%9E%E7%8E%B01/ )<br>
2. [Monocular Visual Odometry using OpenCV](http://avisingh599.github.io/vision/monocular-vo/) and its related project report [_Monocular Visual Odometry_](http://avisingh599.github.io/assets/ugp2-report.pdf) | Avi Singh
 
Search "cv2.findEssentialMat", "cv2.recoverPose" etc. in github, you'll find more python projects on slam / visual odometry / 3d reconstruction