Visual Odometry is a crucial concept in Robotics Perception for estimating the trajectory of the Robot (camera to be precise). The concepts involved in Visual Odometry are quite the same for SLAM which needless to say is an integral part of Perception.

This project aims to develop a visual odomtery pipleline for the postion tracking application.

The output can be viewed at link

1. MATLAB R2017b

2. Oxford Dataset

MATLAB R2017b can be dowloaded from the link.

Download the oxford dataset from this link and move it input folder of the project repository.

After downloading the dataset.

1. Add the input folder to the MATLAB path

2. Run project2Main.m to see the plot along with image frame.

3. Run project2MatlabComparison.m for see the plot of comparison