ros_stereo_odo

A ros compatible implementation of stereo visual odometry

Getting Started

Clone Package into a ROS workspace
Run the command "roslaunch ros_stereo_odo stereo_odom_node"

Outline of Method

Rectify Images and Extract Fast Features
Match Features using LK Optical Flow
Use Camera Matrcicies to Project Points into 3D
Use Maximum Clique Inlier Detection to Prune Points
Use LM Optimization to calculate camera pose change

Based off Avi Singh's Blog Post on Stereo Odometry

https://avisingh599.github.io/vision/visual-odometry-full/