Monocular-Visual-Odometry-master
所属分类：其他
开发工具：matlab
文件大小：648KB
下载次数：8
上传日期：2020-01-29 16:45:50
上 传 者：
大亭子
说明： # Monocular-Visual-Odometry
MATLAB代码为单目视觉测程与KITTI数据集。
该方法的目的是利用连续图像之间丰富的信息关系，并利用最小的硬件，即单目视觉传感器来弥补错误的测距传感器。在这个项目中，我们实现了每个图像的特征检测、特征提取和特征匹配方法。还实现了单目视觉测程的流水线，并在KITTI数据集上测试了我们的实现。
(# Monocular-Visual-Odometry
MATLAB code for Monocular Visual Odometry with KITTI dataset.
The goal of this approach is to complement the erroneous odometry sensors using the rich information in relations between consecutive images and with the use of minimum hardware, i.e. a monocular vision sensor. In this project we implemented feature detection, feature extraction, and feature matching methods used for each images. Also implemented the pipeline of monocular visual odometry and test our implementation on the KITTI dataset.)
文件列表:
Code (0, 2017-02-26)
Code\MVO_main.m (8296, 2017-02-26)
Code\applyBundleNormalization.m (1594, 2017-02-26)
Code\applyScaleFactor.m (677, 2017-02-26)
Code\computeFeatureMatch.m (442, 2017-02-26)
Code\detectInterestPoints.m (1312, 2017-02-26)
Code\extractPixelFeatures.m (298, 2017-02-26)
Code\matchOdometryFeatures.m (1362, 2017-02-26)
Results (0, 2017-02-26)
Results\FeatureDetection.png (7047, 2017-02-26)
Results\pipeline.JPG (55319, 2017-02-26)
Results\pixel.png (604120, 2017-02-26)
Results\result.png (9026, 2017-02-26)
# Monocular-Visual-Odometry
MATLAB code for Monocular Visual Odometry with KITTI dataset.
The goal of this approach is to complement the erroneous odometry sensors using the rich information in relations between consecutive images and with the use of minimum hardware, i.e. a monocular vision sensor. In this project we implemented feature detection, feature extraction, and feature matching methods used for each images. Also implemented the pipeline of monocular visual odometry and test our implementation on the KITTI dataset.
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