{"repo":"zanazakaryaie/ARM-VO","free":true,"listed":false,"github":"https://github.com/zanazakaryaie/ARM-VO","clone":"git clone https://github.com/zanazakaryaie/ARM-VO.git","description":"Efficient monocular visual odometry for ground vehicles on ARM processors","language":"C++","stars":256,"topics":["raspberry-pi","visual-odometry","kitti-dataset","arm","opencv","neon","tbb","openmp","fast","klt"],"license":"MIT","category":"self-hosted-apps","readme_excerpt":"ARM-VO ARM-VO is a monocular visual odometry algorithm designed for on-road vehicles. It is highly optimized for ARM CPUs as it uses NEON C intrinsics and multi-threading to accelerate keypoint detection and tracking. Results on KITTI dataset Sequence 05 Sequence 07 Sequence 10 :---: :---: :---: What's new in v2? - Results are deterministic - Scale estimation is more accurate (but slower) - Camera pitch angle is no longer required (providing camera height is enough) - RGB and BGR inputs are supported - Distorted images are supported - Keypoint tracking is faster by re-using KLT pyramids - Motion estimation is more robust in dynamic environments - The API and the implementation are much cleaner - Enabled compilation on x86 machines to simplify development - Removed ROS node examples (will be back in future) Dependencies - C++17 (or above) - CMake = 3.20 and build essentials - OpenCV - ncnn - Catch2 (only if you want to build tests as well) How to build? Build Options Option Default Description --- ---: --- BUILD TESTS OFF Build unit tests Run on KITTI dataset Download the odometry dataset from here. Open a terminal, navigate to build/cli folder and run: To compare ARM-VO's accuracy with ground-truth poses, first download the ground-truth data from here. Then navigate to build/cli folder and run: How to use ARM-VO in your project? If your project uses CMake, you can find the installed ARM-VO package and link against the core visual odometry library: The package also exports arm","default_branch":null,"files":null,"tree":[],"storefront":"/r/zanazakaryaie","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/zanazakaryaie/ARM-VO/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}