This repository is C++ OpenCV implementation of SOFT (Stereo Odometry based on careful Feature selection and Tracking)

Original Paper: https://lamor.fer.hr/images/50020776/Cvisic2017.pdf

OpenCV 3.0

Eigen 3.34

Tested on KITTI odometry dataset

git clone https://github.com/ZhenghaoFei/visual_odom.git

Change EIGENPATH in visual_odometry/CMakeLists.txt

Change filename_pose & filepath in visual_odometry/src/main.cpp to your location of KITTI odom data

Change projection matrixs in visual_odometry/src/main.cpp to your calibration data

mkdir build
cd build
cmake ..
make -j4
./run

1. Monocular visual odometry algorithm

2. Matlab implementation of SOFT