This project contains an implementation of the REBVO pipeline, it is a reimplementation of the project in https://github.com/JuanTarrio/rebvo with focus on clean code, readability and ultimatively, performance.
THIS PROJECT IS CURRENTLY UNDER CONSTRUCTION: Once the alpha version is finished, it will be pushed to the master branch.
- Tarrio, J. J., & Pedre, S. (2015). Realtime Edge-Based Visual Odometry for a Monocular Camera. In Proceedings of the IEEE International Conference on Computer Vision (pp. 702-710).
- Tarrio, J. J., & Pedre, S. (2017). Realtime edge based visual inertial odometry for MAV teleoperation in indoor environments. Journal of Intelligent and Robotic Systems.
- C++11
- CMake
- Catkin
- ROS
- OpenCV3
- TooN
- spdlog
- Lapack
- TooN: Git Submodule linking to the TooN Version used in this project
- spdlog: Git Submodule linking to the spdlog Version used in this project
- rebvio: Source code for the REBVIO library
- ros_rebvio: ROS wrapper for the REBVIO library