Real-time trajectory tracking.
Visual Odometry Pipeline
Year
2024
Role
Computer Vision
Overview
Developed a robust visual odometry system for autonomous navigation using stereo camera setups. The pipeline includes feature extraction, matching, outlier rejection, and camera pose estimation in GPS-denied environments.
The repository (SubSense) is an ongoing experiment in underwater visual perception: trying different approaches to visual odometry, including feature and corner detection, line-intersection analysis and stereo vision, aimed at tile and object recognition and trajectory estimation underwater.
Focus
Feature tracking and trajectory determination from underwater imagery.
Structure
Separate modules for stereo vision, mathematical utilities and datasets.
