A simple monocular visual odometry (part of vSLAM) by ORB keypoints with initialization, tracking, local map and bundle adjustment. (WARNING: Hi, I'm sorry that this project is tuned for course demo, not for real world applications !!!)
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Replace g2o & Sophus codes to the latest commit version #11
Replace the g2o codes to the latest version (2020.09). Also, the lastest commit of Sopuhs library is normally built.