A very simple stereo visual odometer implemented in OpenCV.
- For 'VO+IMU', I simply use the orientation provided by the IMU and the translation results from VO.
- Video: http://v.youku.com/v_show/id_XMTgzMzczODI4MA==.html
Specifying your dataset parameters (marked as !!!CHANGE!!!) in main.cpp
Note that the stereo images must be rectified.
It runs properly on the KITTI benchmark dataset : http://www.cvlibs.net/datasets/kitti/eval_odometry.php