OnlineLearningGround (OLG) is a MATLAB program with c++ mex files for demonstrating a non-holonomic ground vehicle motion computation up to the scale via ground prediction/classification on the KITTI benchmark dataset. For details of the algorithm, please refer to the following related publication:
B. Lee, K. Daniilidis, and Daniel D. Lee (2015) Online self-supervised monocular visual odometry for ground vehicles, IEEE ICRA '15.
A video demonstration can be found at http://youtu.be/lpYHxgBTpxA
If you find this software useful or if you use this software for your research, we would be happy if you cite this publication.
- MATLAB (R2014 and up) with Image Processing Toolbox
- Intel CPU msse3 supported
Tested only on Ubuntu 12.04, 14.04, 16.04