Mono-Odometry

This repository is a basic MATLAB implementation of monocular visual odometry. The code has been tested on MATLAB R2018a.

The project has been done by the following:

• Hao-Chih Lin
• Mayank Mittal
• Chen-Yen Kao

Demonstration video is available https://youtu.be/trbBh8Rjc4s.

System Configuration

CPU:                          Intel(R) Core(TM) i7-8750H CPU @ 2.20GHz
Memory:                       16 GB @ 1333 MHz
                               - 8192 MB, DDR4-2667, Samsung M471A1K43CB1-CTD    
                               - 8192 MB, DDR4-2667, Samsung M471A1K43CB1-CTD    
Graphics:                     NVIDIA GeForce GTX 1070 with Max-Q Design, 8192 MB
Graphics:                     Intel(R) UHD Graphics 630, 1024 MB

How to run the repository?

1. Clone the repository using the following command:

git clone /~https://github.com/Mayankm96/Mono-Odometry.git

2. Import the dataset to the folder data. In case you wish to use the KITTI Dataset, such as the Residential dataset, the following command might be useful:

cd PATH/TO/Mono-Odometry
## For Reseidential Sequence: 61 (2011_09_46_drive_0061)
# synced+rectified data
wget -c https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0009/2011_09_26_drive_0009_sync.zip -P data
# calib.txt
wget -c https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip -P data

3. Change the corresponding paramters in the configuration file configFile.m according to your need

4. Run the script main.m to get a plot of the estimated odometry