Course: ME CS 6320- 3D Computer Vision

In this project, we will implement a Visual Odometry method on a Roomba iCreate 2 which is equipped with a Microsoft Kinect RGB-D sensor for localization and map generation. Although the mobile robot is moving on a 2D plane (ground), the localization and map generation algorithms are for 3D environments, so the final results are in 3D. At the end, we will evaluate our approach by comparing resulted localization with results from robot odometry, LIDAR sensor localization, or GPS data. Finally, we made a ROS package which includes different nodes for various parts of the algorithm.