We are pleased to announce the open-source release of OKVIS: Open Keyframe-based Visual Inertial SLAM under the terms of the BSD 3-clause license. OKVIS tracks the motion of an assembly of an Inertial Measurement Unit (IMU) plus N cameras (tested: mono, stereo and four-camera setup) and reconstructs the scene sparsely. There is currently no loop-closure detection / optimisation included, but we are working on it.
Copyright (c) 2016, Autonomous Systems Lab / ETH Zurich
Software authors and contributors: Stefan Leutenegger, Andreas Forster, Paul Furgale, Pascal Gohl, and Simon Lynen
To obtain the ROS-Version, follow the instructions here:
ethz-asl.github.io/okvis_ros/
This is ready to be used with a Skybotix VI-Sensor or to process ROS bags.
We also provide a non-ROS version to use as a generic CMake library, which includes some minimal examples to process datasets:
ethz-asl.github.io/okvis/