Direct Stereo Visual Odometry

Introduction

This is an implemetation of direct stereo visual odometry based on G2O and Opencv.

• Track new frame with direct image alignment
• Sliding window Bundle Adjustment minimizing photometric error [Doing]
• Initialize depth with fixed baseline stereo image and update with triangulation [Doing]

Usage

1. Place images under your data folder which contains two sub_folders image_2 and image_3
2. Edit config file refer to config/default.ini
3. compile and run with

./run_vo config/default.ini

Result