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how does viso2_ros work? (monocular odometry)

Hi everybody, I'm testing viso2_ros package (http://www.ros.org/wiki/viso2_ros), in particularly, VisualOdometryMono class and its functions. Does anyone provide me any information about monocular odometry algorithm working? Is it based on "A Robust Visual Odometry and Precipice Detection System Using Consumer-grade Monocular Vision" written by Campbell,Sukthankar,Nourbakhsh,Pahwa (http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570639).