SaDVIO
SaDVIO

This library provide a modular C++ framework dedicated on research about Visual Odometry (VO) and Visual Inertial Odometry (VIO). It also contains implementations of research works done at ISAE such as: factor graph sparsification, traversability estimation with 3D mesh and non overlapping field of view VO. This version is compatible with the middleware ROS2.

drawing

Installation

Here are the dependencies:

  • OpenCV for image processing
  • CERES a non linear solver from google
  • Eigen a linera algebra library
  • yaml-cpp to parse config files

You can either run this code with ROS2, the famous robotic middleware, or without ROS2. For now it has been tested with Galactic and Humble. A few changes are needed for Jazzy but only in the ros folder.

Tutorials

Using SaDVIO with your own Dataset

Using SaDVIO as an external library