Stereo Visual Odometry Estimator ROS2 Package
- Ubuntu 20.04
- ROS2 foxy
- OpenCV
cd ~/dev_ws/src
git clone https://github.com/csw609/choi_vo.git
cd ../
colcon build
source ./install/setup.bash
ros2 launch choi_vo choi_vo_launch.py
- Make Parameter Configure File
- Extract Keyframe
- Implement Loop Closure
- use IMU