Description

Simplified visual odometry for uncalibrated camera path estimation in C++ using OpenCV.

Pipeline consists of:

• Keypoint extraction using ORB
• Matching keypoints between each pair of consecutive frames
• Filtering matches using:
  • Descriptor distance ratio test (Lowe's ratio)
  • RANSAC inlier filtering based on epipolar geometry
• Estimating the essential matrix from matched keypoints
• Recovering relative camera pose (rotation and translation direction) from the essential matrix

How to run

Opencv installation

sudo apt install libopencv-dev

Set path to video

Path should be set via INPUT_VIDEO_PATH constexpr in main.cpp.

Build and run

make           # Builds the project
./main         # Runs the executable

Clean

make clean     # Cleans up build files

Example

Credits

OpenCV is used for most of image processing