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This repository contains the ROVIO (Robust Visual Inertial Odometry) framework. The code is open-source (BSD License). Please remember that it is strongly coupled to on-going research and thus some parts are not fully mature yet. Furthermore, the code will also be subject to changes in the future which could include greater re-factoring of some parts.

Video: https://youtu.be/ZMAISVy-6ao

Papers:

Please also have a look at the wiki: https://github.com/ethz-asl/rovio/wiki

Install without opengl scene

Dependencies:

#!command

catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release

Install with opengl scene

Additional dependencies: opengl, glut, glew (sudo apt-get install freeglut3-dev, sudo apt-get install libglew-dev)

#!command

catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON

Euroc Datasets

The rovio_node.launch file loads parameters such that ROVIO runs properly on the Euroc datasets. The datasets are available under: http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

Further notes