Project-2-Visual-Odometry-RANSAC

Computed Visual Odometry using corner extraction from April Tags and optical flow using ORB

Setup

The dataset required for this project is stored in the data directory and managed using Git LFS.

Clone the repository with Git LFS enabled:

git lfs install
git clone https://github.com/jagennath-hari/Project-2-Visual-Odometry-RANSAC

If you cloned the repo without LFS enabled, run:

git lfs pull

Part 1

Computed state of quadrotor using the corner extraction from April Tags.

Results

Part 2

State estimation of quadrotor using optical flow using ORB and KLT tracker, additional step of outlier removal using RANSAC.

Results

Report

To read a detailed report, click HERE.