MonoVO

Monocular Visual Odometry (VO) system written in C++.

To Build:

1. git clone https://github.com/tjchase34/MonoVO.git
2. cd MonoVO/
3. mkdir build
4. cd build/
5. cmake ..
6. make

To Run:

From the root project directory:

• ./build/MonoVO [INPUT IMAGE FOLDER] [OUTPUT POSE SERIES FILENAME] [NUM FRAMES] [KEYFRAME NUM]

Example run with KITTI images (sequence 00) at /mnt/d/Shared/data/images/, processing the first 500 frames, and selecting every 10th frame as a keyframe:

• ./build/MonoVO /mnt/d/Shared/data/images/ pose_results.txt 500 10