Abstract— This work presents an implementation of visual odometry with an RGB-D camera. We show that reasonable odometry estimates can be obtained, are currently limited by disturbances of the sensor. We compare the results to wheel encoder based odometry, and present the use case for using this method as an alternative or additional layer to the traditional encoder based odometry.

RT Matrices Estimation

Pose Tracking

Robotics Institute 

University of Michigan, Ann Arbor

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Updated on 8/21/2017