The work was majorly concentrated on Visual Odometry. ROS Indigo, OpenCV were major tools used in the project.
ROS provides a platform where different modules running simultaneously can communicate easily and synchronously. In this project ROS plays an important role integrating Visual Odometryand other operations performed based on visual odometry.
In the current work, tracking camera and marking its position in previous frames is implemented based on fundamental matrix. The issue with this process is that the terrain patch under the object can not be tracked with out height correspondance with the distance. On the other hand we can use Visual Odometry, which will continuously publishing the camera position on a ROS topic and compute terrain patch coordinates directly as we k