MonoVO

An implementation of Monocular Visual Odometry on the KITTI dataset using OpenCV in Python

Requirements

• Python 2.7
• Numpy
• OpenCV
• PyKITTI

Dataset

KITTI raw data set (cam0 grayscale)

Usage

Modify the path in main.py to your image sequences and ground truth trajectories, then run

python main.py

References

1. Monocular Visual Odometry using OpenCV and its related project report Monocular Visual Odometry | Avi Singh