Optical-Flow-Localisation

Localisation using a (strictly) downward facing camera (similar to mouse tracking) based on feature detection and optical flow

Prerequisite

• Eigen3
• OpenCV
• CMake

Installation and build

git clone https://github.com/oyqmatt/Optical-Flow-Localisation.git
cd Optical-Flow-Localisation
mkdir build 
cd build
cmake ..
make

How to use

To save a output video file

Uncomment this line in optical_flow.cpp

#define VID_OUT

In build directory

./Optical-Flow-Localisation <path-to-video>

Issues to be fixed

• Poor tracking performanc in combined rotation and translation
• To implement video undistortion
• Parse config file for params rather than defining in code