Visual odometry with opencv, raspberry pi, and ardurover?

I’d like to use opencv on a Raspberry Pi or similar to do visual odometry. The Pi supports I2C on its GPIO so I should be able to make data available to FC. I was wondering if anyone has already done something similar or has any advice. There are a lot of pieces that would need to come together.

Ok, super awesome. I would love to get the detsils on the hardware setup so I csn try it on my mower. How has it be performing outside?