This is Author's implementation of semi-global matching algorithm and optical flow based visual odometry for a simple robotic system equipped with CUDA enabled GPU (Jetson TK1).
This work was inspired mainly by:
[1] Campbell, Sukthankar, Nourbakhsh, Pahwa - "A Robust Visual Odometry and Precipice Detection System Using Consumer-grade Monocular Vision"
[2] Michael, Salmen, Stallkam, Schlipsing - "Real-time Stereo Vision: Optimizing Semi-Global Matching"
in 2013 IEEE Intelligent Vehicles Symposium (IV) June 23-26, 2013, Gold Coast, Australia