Real-Time Stereo Visual Odometry and 3D Mapping for Autonomous Navigation This video shows a Visual odometry system that Vicomtech is deploying to be used in stereo sequences. In the videos we can observe two of the main aspects of the approach. On the one hand, the feature-based matching method, that leads to a sparse optical flow, which is colored according to the depth computed via triangulation. On the other hand, the 6D pose of the camera is computed and represented with PCL (in red) together with the 3D position of the world points (in green) that are used for the estimation of the egomotion. (Datasets by Karlsruhe University http://www.cvlibs.net/datasets/index.... )