Monocular Visual Odometry in Python

This repository implements the first part of an ORB-SLAM Algorithm in Python making heavy use of the OpenCV library.

The complete SLAM Algorithm ist still a work in progress. I am currently working on Loop-Closing using g2o and performance increases using own implementations of the algorithm in C++. I will add additional explanations concerning the mathematics at a later stage.

Sources:

• Multiple View Geometry in Computer Vision
• ORB-SLAM Paper
• ORB-SLAM 2 Paper