README

Welcome to OKVIS sync Dumper: Open Keyframe-based Visual-Inertial SLAM. This is a modification of OKVIS1 to save the complete state of the SLAM after every images processing.

Installation

This is a pure cmake project.

You will need to install the following dependencies,

• CMake:

sudo apt-get install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libboost-dev libboost-filesystem-dev libopencv-dev

git clone [email protected]:ethz-asl/okvis.git

Building the project

To change the cmake build type for the whole project use:

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

Running

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format. You can use the EUROC dataset with the non-ros data *Mono version:

./okvis_app_synchronous -c /home/lucas/code/v4rl/okvis_dumper/config/config_fpga_v4r4_dumper.yaml -p /home/lucas/data/bags/outputdir1/ -o /home/lucas/data/bags/outputdir1/output_okvis2 --imu imu0 --cameras cam0

*Stereo version:

./okvis_app_synchronous -c /home/lucas/code/v4rl/okvis_dumper/config/config_fpga_v4r4s_dumper.yaml -p /home/lucas/data/bags/outputdir1/ -o /home/lucas/data/bags/outputdir1/output_okvis2 --imu imu0 --cameras cam0 --cameras cam1

Please Cite

This is the Author's implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

License

The 3-clause BSD license (see file LICENSE) applies.