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data
data
 
 
gifs
gifs
 
 
latex_tables
latex_tables
 
 
results
results
 
 
tables
tables
 
 
.gitattributes
.gitattributes
 
 
.gitignore
.gitignore
 
 
README.md
README.md
 
 
config.py
config.py
 
 
cycles_config.yaml
cycles_config.yaml
 
 
detector.py
detector.py
 
 
eevee_config.yaml
eevee_config.yaml
 
 
eval.py
eval.py
 
 
exploratory_data_analysis.ipynb
exploratory_data_analysis.ipynb
 
 
flann_test.py
flann_test.py
 
 
ground_truth_config.yaml
ground_truth_config.yaml
 
 
json_to_txt.py
json_to_txt.py
 
 
main.py
main.py
 
 
pinhole_camera.py
pinhole_camera.py
 
 
point_correspondence.py
point_correspondence.py
 
 
requirements.txt
requirements.txt
 
 
results_to_table.py
results_to_table.py
 
 
utils.py
utils.py
 
 
visual_odometry.py
visual_odometry.py
 
 
visualizer.py
visualizer.py
 
 

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Visual Odometry implementation in Python

Various Results

Note: The GIFs will appear laggy until they are fully loaded. This might take a few seconds.

Orbital Sequence

Optimal Scenario Underwater Scenario
2D Trajectory 3D Trajectory
2D Trajectory 3D Trajectory

Red trajectory is estimated, and green is ground truth.

Forward Sequence

Optimal Scenario Underwater Scenario
2D Trajectory 3D Trajectory
2D Trajectory 3D Trajectory

Red trajectory is estimated, and green is ground truth.

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Monocular Visual Odometry (VO) for over- and underwater scenario

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computer-vision visual-odometry vslam robotic-vision egomotion

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