MSCKF_VIO TheMSCKF_VIOpackage is a stereo version of MSCKF. The software takes in synchronized stereo images and IMU messages and generates real-time 6DOF pose estimation of the IMU frame. The software is tested on Ubuntu 16.04 with ROS Kinetic. ...
KumarRobotics/msckf_vioPublic NotificationsYou must be signed in to change notification settings Fork607 Star1.8k Files master cmake config include launch msg rviz src image_processor.cpp image_processor_nodelet.cpp msckf_vio.cpp msckf_vio_nodelet.cpp ...
单目VIO开源代码:https://github.com/daniilidis-group/msckf_mono 双目VIO开源代码:https://github.com/KumarRobotics/msckf_vio 双目VIO注释版本:https://github.com/electech6/MSCKF_comments非常感谢计算机视觉life的注释开源 本系列文章基于双目VIO开源框架,该框架代码可读性更强。 ROS——Nodelet Nodelet提供一...
VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0 - TurtleZhong/msckf_mono
VIO_Learning. A simple implement of mono msckf inhttps://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0 viomsckfvisual-inertial-odometry UpdatedApr 6, 2019 C++ ydsf16/TinyGrapeKit Star288 Code Issues Pull requests A bunch of state estimation algorithms ...
master msckf_vio/cmake/ Go to file This branch is up to date with master. Contribute Latest commit kartikmohta Replace FindCholmod and FindSPQR with FindSuiteSparse.cmake from Ceres 682017a on Jan 14, 2018 Git stats History Files Failed to load latest commit information. Type Name...
msckf_vio Modified version ofKumarRobotics/msckf_vio(commit e3a39a9 on Jul 26, 2019), a stereo version of MSCKF. The software takes in synchronized stereo images and IMU messages and generates real-time 6DOF pose estimation of the IMU frame. ...
双目MSCKF视觉惯性里程计 Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight - First commit of the code · ahut-cm/msckf_vio@700a3c6
接下来主要分析msckf_vio的相关代码,这部分的代码分析和论文较为对应。和图像处理部分一样,msckf部分从msckf_vio_nodelet.cpp进入initialize(),进入函数后,先进行参数加载,这部分主要有定义坐标系、加载imu的噪声和偏置噪声参数,定义了初始的imu速度,设定了速度协方差、陀螺仪偏置协方差、加速度计偏置协方差、以及外参...
KumarRobotics/msckf_viogithub.com/KumarRobotics/msckf_vio 1. 安装测试 S-MSCKF是在ROS下运行的package,依赖与ROS,这里假设已经安装了ROS并创建的catkin_ws。(笔者的测试环境是Ubuntu16.04+ROS Kinetic) 首先下载源码并编译,执行 sudo apt-get install libsuitesparse-dev cd ~/catkin_ws/src git clone Kumar...