Currently I am experimenting with stereo vision usb webcams, where an essential step is good calibration. It felt a bit strange to see the image feature detection working on live data:

I’ll try to form the gained experiences into a small step by step guide and probably a github repository soon. Currently I am aiming towards depth data gained by webcams only, especially to compare the results to previous setups, and to see if visual odometry can be an option in low cost environments.