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Dense Visual Odometry (dvo)

These packages provide an implementation of the rigid body motion estimation of an RGB-D camera from consecutive images.

Installation

Checkout the branch for your ROS version into a folder in your ROS_PACKAGE_PATH and build the packages with rosmake.

Usage

Estimating the camera trajectory from an RGB-D image stream:

If everything works, the stdout of the camera_tracker node should show [ WARN] [1355131430.132265592]: RGB image size has changed, resetting tracker! and the camera pose is published on the /rgbd/pose topic. You can restart the camera motion estimation by disabling and enabling the run_dense_tracking option.

For visualization:

The red camera shows the current camera position. The blue camera displays the initial camera position.

Publications

The following publications describe the approach:

License

The packages dvo_core, dvo_ros, and dvo_benchmark are licensed under the GNU General Public License Version 3 (GPLv3), see http://www.gnu.org/licenses/gpl.html.

The package sophus is licensed under the MIT License, see http://opensource.org/licenses/MIT.