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how does viso2_ros work? (monocular odometry)

Hi everybody, I'm testing viso2_ros package (, 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 (