Visual Odometry Pipeline for Augmented Reality

Krzysztof Lis, 2017

Full description (PDF)

The goal of our program is to track the camera’s pose using visual odometry methods and display a virtual object in a stable position in the real world. Our intention is to integrate this method into the open source Augmented Unreality plugin and make it available for AR application developers. This use case is associated with the following requirements:

• Proper scale and orientation is needed to show the virtual object in the correct place.
• There are no constraints on the camera pose.
• The algorithm must run on-line and in real time.

Example output videos

Building

Install OpenCV 3.2+ and execute:

mkdir build
cd build
cmake ..
make -j4

Then run with:

./build/aur_odometry table.xml

or

./build/aur_odometry default.xml