This code implements a semi-direct monocular visual odometry pipeline.

Video: https://youtu.be/2YnIMfw6bJY

Paper: https://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf

SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed.

The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info.

If you use SVO in an academic context, please cite the following publication:

@inproceedings{Forster2014ICRA,
  author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide},
  title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2014}
}

The API is documented here: https://uzh-rpg.github.io/rpg_svo/doc/

See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki

You are very welcome to contribute to SVO by opening a pull request via Github. I try to follow the ROS C++ style guide https://wiki.ros.org/CppStyleGuide