Simple Monocular Visual Odometry method in ROS package

• Mainly inspired by https://github.com/avisingh599/mono-vo
• Dataset: KITTI 00 sequence
• Extractor: FAST
• Tracker: LK Optical Flow
• Tested Environment: Ubuntu 18.04 LTS & ROS melodic.

Requirement

• ROS kinetic (Ubuntu 16.04) or ROS melodic (Ubuntu 18.04) download
• KITTI odometry dataset download

Instruction

• Clone this repository git clone https://github.com/edward0im/simple_mono_vo_ros.
• Put this direcotory into your workspace such as catkin_ws.
• Build the workspace using catkin_make.
• Update ROS packages using rospack profile.
• Edit the launch file launch/mono_vo_ros.launch
  • Change fn_kitti variable to the kitti path in your system.
• Run roslaunch mono_vo_ros mono_vo_ros.launch.