This repository presents a robust stereo visual odometry solution for underwater environment, which is built upon ORBSLAM2.

To compile the code, please refer to the original repository of ORBSLAM2. There are some command examples in the command.txt file, for your reference.

This code is released under a GPLv3 license.

If you use this code in an academic work, please cite the following paper (link1, link2):

@inproceedings{zhang2018robust,
	title={Robust visual odometry in underwater environment},
	author={Zhang, Jun and Ila, Viorela and Kneip, Laurent},
	booktitle={2018 OCEANS-MTS/IEEE Kobe Techno-Oceans (OTO)},
	pages={1--9},
	year={2018},
	organization={IEEE}
}