QDVO: Quasi-Direct Visual Odometry
Source Code: https://github.com/k-sheridan/qdvo
For more details on the approach please refer to my presentation at the Purdue AAE Research Symposium Series: https://github.com/k-sheridan/qdvo/bl...
Top Left: 3D Point Cloud and Camera Trajectory
Top Right: Current Frame
Bottom Row: Keyframes being used
Datasets: TUM-VI https://vision.in.tum.de/data/dataset...
These visualizations are from a matlab implementation of a new method for visual odometry I have been working on. A cpp implementation is included in the github repo linked above.