Monocular Visual Odometry pipeline

Monocular Visual Odometry pipeline for urban driving scenarios. Implementation includes SIFT, Harris, Shi-Tomasi, and FAST feature detectors, KLT optical-flow tracker for feature tracking, Kalman filter for enhanced camera motion estimation. Tuned and tested on the KITTI, Malaga, and Parking datasets, and a custom dataset recorded on the Polybahn in Zürich. Screencasts of the VO pipeline running on all datasets can be found on YouTube.