Keywords: FAST Feature Detection, LK Feature Tracking, Five-Point Motion Estimation
port from https://github.com/yueying/LearningVO
KITTI odometry data set (grayscale, 22 GB)
Modify the path in test.py to your image sequences and ground truth trajectories, then run
python test.py
Search "cv2.findEssentialMat", "cv2.recoverPose" etc. in github, you'll find more python projects on slam / visual odometry / 3d reconstruction