This project allows 6D visual odometry to be estimated either using rectified stereo images or running live from a connected stereo camera. It is based upon the following:

cvmlib http://cvmlib.com
libpng http://libpng.org/
libviso http://rainsoft.de/software/libviso.html
libv4l2cam http://code.google.com/p/libv4l2cam/
Minoru 3D webcam http://nma.web.nitech.ac.jp/fukushima/minoru/minoru3D-e.html
opencv http://opencv.willowgarage.com/wiki/

If you find this software useful or if you use this software for your research, please cite:

@INPROCEEDINGS{Kitt10,
 author = {Bernd Kitt and Andreas Geiger and Henning Lategahn},
 title = {Visual Odometry based on Stereo Image Sequences with RANSAC-based Outlier Rejection Scheme},
 booktitle = {IEEE Intelligent Vehicles Symposium},
 year = {2010},
 month = {June},
 address = {San Diego, USA}
}

@INPROCEEDINGS{Geiger10,
 author = {Andreas Geiger and Bernd Kitt},
 title = {ObjectFlow: A Descriptor for Classifying Traffic Motion},
 booktitle = {IEEE Intelligent Vehicles Symposium},
 year = {2010},
 month = {June},
 address = {San Diego, USA}
}