SVO

This code implements a semi-direct monocular visual odometry pipeline.

Video: http://youtu.be/2YnIMfw6bJY

Paper: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf

Disclaimer

SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed.

Licence

The source code is released under a GPLv3 licence. A professional edition license for closed-source projects is also available. For commercial use, please contact the authors.

Citing

If you use SVO in an academic context, please cite the following publication:

@inproceedings{Forster2014ICRA,
  author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide},
  title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2014}
}

Documentation

The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/

Instructions

See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki

Contributing

You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide