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VINS-Fusion Adaptation for COVINS-G

This repository contains an adapted version of the VINS-fusion which is adapted to be used with the COVINS-G (ICRA-23) architecture. Please refer to the COVINS-G repository for more details on how to use this specific frontend with the collaborative SLAM backend. If you use this version in your academic work, please cite:

@article{patel23COVINS_G,
    title = {COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM},
    doi = {10.48550/ARXIV.2301.07147},
    url = {https://arxiv.org/abs/2301.07147},
    author = {Patel, Manthan and Karrer, Marco and Bänninger, Philipp and Chli, Margarita},
    publisher = {arXiv},
    year = {2023},
}

Installation

Since we mostly test the framework with Ubuntu 20.04 and ROS-Noetic, we use this repository with docker framework (Due to compilation issue of VINS-Fusion on Ubuntu 20.04). Docker environment is like a sandbox, thus makes the code environment-independent. First make sure ros and docker are installed on your machine. Then add your account to docker group by sudo usermod -aG docker $YOUR_USER_NAME. Relaunch the terminal or logout and re-login if you get Permission denied error,

Once you have installed docker and verified its installation, create a catkin workspace:

mkdir -p catkin_ws/src
cd catkin_ws/src

Clone the Rpository:

git clone https://github.com/manthan99/VINS-COVINS-adaptation.git

Build Docker:

cd ~/catkin_ws/src/VINS-COVINS-adaptation/docker
make build

Note that the docker building process may take a while depends on your network and machine.

For usage in a Collaborative SLAM framework, we refer to the COVINS-G Repository. For settings related to the the frontend parameters, we refer to the original VINS-fusion repository.

For any issues, please contact Manthan Patel (manthanhemangpatel@gmail.com)

Contributors: Manthan Patel and Thomas Ziegler (Vision for Robotics Lab, ETH Zurich)