Visual Odometry for a Recorded Video

Phase-1 evaluation has been completed last week and there has been a good amount of progress in the project as of now. The complete architecture is understood and many approaches have been explored. Thanks to my mentors Karan Saxena and Antonio Del Mestro 🙂 The proposed solution for publishing RGBD images on desired ROS topics …

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RGB-D Visual Odometry on ROS

The important aspect of the project is Visual Odometry(VO). It estimates the trajectory of the camera in the world coordinate system which is useful for retrieving the current terrain patch on which the astronaut is standing. For monocular visual odometry, PTAM has been used. The mapping thread in PTAM is heavy and the trajectory wasn't …