Stereo-Odometry-SOFT

This repository is a MATLAB implementation of the Stereo Odometry based on careful Feature selection and Tracking. The code is released under MIT License.

The code has been tested on MATLAB R2018a and depends on the following toolboxes:

• Parallel Processing Toolbox
• Computer Vision Toolbox

On a laptop with Intel(R) Core(TM) i7-8750H CPU @ 2.20GHz and 16GB RAM, the following average timings were observed:

• Time taken for feature processing (in ms): 261.4
• Time taken for feature matching (in ms): 3650.5
• Time taken for feature selection (in ms): 6.5
• Time taken for motion estimation (in ms): 1.1