ST097-01B

Visual Odometry implementation with Stereo cameras for localization in Autonomous Driving

Overview

• It uses Python and OpenCV.
• It's a minimal approach w/o Global map optimization.

Setup and Usage

1. Download the Dataset:

   • Download the full dataset from KITTI's official website.
   • Make sure to download the greyscale images and the ground truth poses dataset.
   • Extract it to the root directory of the project.

2. Setup Virtual Environment:

   • Navigate to your project's root directory.
   • Create a virtual environment using venv. Open a terminal and run the following commands:

python3 -m venv venv
source venv/bin/activate      # For Linux/Mac
# OR
.\venv\Scripts\activate      # For Windows

3. Install Requirements:

   • With the virtual environment activated, install the required packages by using the requirements.txt file. Run the following command in the terminal:

pip install -r requirements.txt

4. Run the Visualization:
   • After installing the requirements, run the main.py file to visualize the results. Execute the following command in the terminal:

python main.py

• This should launch the visualization.

Now, your project should be set up and running :)

Note: This is for Educational Purposes Only