odoflow

Overview

The odoflow package provides nodes and classes for feature-based visual odometry. The word "odoflow" is a mashup of "odometry" and "optical flow".

Dependencies

• OpenCV 3.0+
• Boost
• Eigen

Architecture

Odoflow is centered around the VisualOdometryPipeline class, which combines feature detection, feature tracking, and motion estimation modules into a coherent pipeline.

Feature Detection

Feature Tracking

Motion Estimation

Nodes

visual_odometry_node

Topics

Parameters