This work provide a matlab implementation of rigig body motion estimation of aan RGB-D camera from consecutive frames.

• core

  Core implementation of the camera motion estimation algorithm.

• weight determination

  Some useful functions for new weight determination method.

Few of the functions of this work (e.g. the conversion between )are based on Machine Vision Toolbox (see http://www.petercorke.com/Machine_Vision_Toolbox.html), it is not troublesome for you to install it.

• Down load a RGB-D iamge data set.

  See https://vision.in.tum.de/data/datasets/rgbd-dataset/download. You can choose one of the set to run the algorithm.

• Run the algorithm.

  Execute the main.m to run the algorithm.

  Note: Change the input directory to where you save input file.