The project was developed as part of the Probabilistic Robotics class taught by prof. Giorgio Grisetti at Sapienza University of Rome. The course details can be found at the following link: Probabilistic Robotics Course - Sapienza University of Rome.
Run "visual_odometry_complete.m' to see the complete pipeline.
- 3d points triangulation and camera pose estimation
- Itarative Closest Point Optimization
- Bundle Adjustment
Leonardo Ospizio