Voxel-SVIO (Voxel-SVIO: Stereo Visual-Inertial Odometry based on Voxel Map) is a MSCKF based visual-inertial odometry (VIO) that utilizes voxel-based map management. The voxel-based map management enables VIO systems to efficiently retrieve the most suitable points for optimizer inclusion, thereby ensuring optimal allocation of computational resources to the variables most critical for optimization.
Voxel-SVIO: Stereo Visual-Inertial Odometry based on Voxel Map
Authors: Zikang Yuan, Fengtian Lang, Jie Deng, Hongcheng Luo and Xin Yang
GCC >= 7.5.0
Cmake >= 3.16.0
Eigen3 >= 3.3.4
OpenCV == 4.2.0
Ceres >= 1.14
| OS | GCC | Cmake | Eigen3 | OpenCV | Ceres |
|---|---|---|---|---|---|
| Ubuntu 20.04 | 9.4.0 | 3.16.3 | 3.3.7 | 4.2.0 | 1.14 |
mkdir -p ~/Voxel-SVIO/src
cd Voxel-SVIO/srcgit clone https://github.com/ZikangYuan/voxel_svio.git
cd ..
catkin_makeNoted:
A. Please create a folder named "output" before running. When Voxel-SVIO is running, the estimated pose is recorded in real time in the pose.txt located in the output folder.
B. We store the public datasets on Baidu drive. Chinese users can download the rosbag data of TUM_VI and KAIST.
1. Run on EuRoC_MAV
Please go to the workspace of Voxel-SVIO and type:
cd Voxel-SVIO
source devel/setup.bash
roslaunch voxel_svio vio_euroc.launchThen open the terminal in the path of the bag file, and type:
rosbag play SEQUENCE_NAME.bag --clock -d 1.02. Run on TUM_VI
Please go to the workspace of Voxel-SVIO and type:
cd Voxel-SVIO
source devel/setup.bash
roslaunch voxel_svio vio_tum_vi.launchThen open the terminal in the path of the bag file, and type:
rosbag play SEQUENCE_NAME.bag --clock -d 1.0For the TUM_VI dataset, different configuration files are required for the scenarios of corridor, magistrale, and room. Please select the appropriate configuration file according to the sequence being processed.
3. Run on KAIST
Please go to the workspace of Voxel-SVIO and type:
cd Voxel-SVIO
source devel/setup.bash
roslaunch voxel_svio vio_kaist.launchThen open the terminal in the path of the bag file, and type:
rosbag play SEQUENCE_NAME.bag --clock -d 1.0For the KAIST dataset, the extrinsic parameters of sequences urban38 and urban39 differ from other sequences. When processing urban38 or urban39, please use kaist2.yaml; for all other sequences, please use kaist.yaml.