The visual odometry algorithm implemented as a part of the Second-term Mini-Project for MSc Robotics, at University of Birmingham.

Comments in visual_odometry.py explains the implementation. The code estimates the trajectory of the camera motion.

--Start by running starter.py

(The dataset used is the 'Level 3' dataset provided by ISMAR for their Offline Tracking Competition (2015). http://ypcex.naist.jp/trakmark/tracking-competition/.)