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Jia,

please read the limitations section on this wiki page. To make the viso2 mono_odometer work you have to move the camera parallel to the ground and have to make sure there are features on the ground as well as above the ground. If you want a "freehand" odometry system, viso2 is not what you are looking for as it is designed for wide angle cameras rigidly mounted on cars. For a small scale odometry system I'd always recommend using an RGBD sensor (Microsoft Kinect or Asus Xtion or similar) together with fovis_ros or ccny_rgbd.

If you want to stick with mono, maybe PTAM suits more your needs? It does not give you metric results (the scaling factor for motions is unknown) but should work better for arbitrary motions.