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This contains the code(in development) for monocular visual odometry of a quadrotor. The visual data from the monocular camera is fused with onboard IMU to develop indoor control and navigation algorithms.

License: MIT License

Python 100.00%

monocular-visual-inertial-odometry's Introduction

Monocular-Visual-Inertial-Odometry

This contains the code(in development) for monocular visual odometry. The aim of the project is to implement feature based tracking methods and fuse the pose estimate with IMU on a crazyflie. This repository depends on:

  1. Python 2.7
  2. CV 3+
  3. ETH Zurich ASL Dataset: http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/

To run this, edit the path in test.py to where your dataset is stored.

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