Monocular-Visual-Inertial-Odometry - This contains the code(in development) for monocular visual odometry of a quadrotor

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



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[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE > Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF. [2] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE > Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF. D. Nister, “An efficient solution to the five-point relative pose problem,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 26, no. 6, pp. 756–770, 2004.

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