Feature-based, Direct, and Deep Learning Methods of Visual Odometry

Presentation by Yafei Hu, part of the AirLab Summer School 2020.
Sessions list, overviews, and links to repos: https://theairlab.org/summer2020

This session is an overview of visual odometry, including feature based, direct and deep learning based methods.

Code:
https://bitbucket.org/castacks/visual...

Outline:
0:00 - Pinhole camera projection model
18:37 - Epipolar constraints
26:47 - The essential matrix
30:02 - The fundamental matrix
39:08 - RANSAC algorithm
44:31 - Solve camera pose
44:48 - Feature detector and descriptor
49:14 - Optical flow and LK algorithm
56:03 - Direct methods intro
1:00:32 - ORB-SLAM
1:05:18 - DTAM
1:10:25 - LSD-SLAM
1:14:42 - Supervised learning based VO
1:25:38 - Self-supervised learning based VO
1:28:56 - Hybrid methods
1:32:00 - Exercises

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