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MIT-SPARK

Description

Index repo for Kimera code

632 Stars 100 Forks BSD 2-Clause "Simplified" License 39 Commits 2 Opened issues

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Kimera

Kimera is a C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment. Kimera is modular, ROS-enabled, and runs on a CPU.

Kimera comprises four modules: - A fast and accurate Visual Inertial Odometry (VIO) pipeline (Kimera-VIO) - A full SLAM implementation based on Robust Pose Graph Optimization (Kimera-RPGO) - A per-frame and multi-frame 3D mesh generator (Kimera-Mesher) - And a generator of semantically annotated 3D meshes (Kimera-Semantics)

Kimera

Click on the following links to install Kimera's modules and get started! It is very easy to install!

Kimera-VIO & Kimera-Mesher

Kimera-RPGO

Kimera-Semantics

Chart

overall_chart

Citation

If you found any of the above modules useful, we would really appreciate if you could cite our work:

@InProceedings{Rosinol19icra-incremental,
  title = {Incremental visual-inertial 3d mesh generation with structural regularities},
  author = {Rosinol, Antoni and Sattler, Torsten and Pollefeys, Marc and Carlone, Luca},
  year = {2019},
  booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
  pdf = {https://arxiv.org/pdf/1903.01067.pdf}
}
 @InProceedings{Rosinol20icra-Kimera,
   title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
   author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
   year = {2020},
   booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
   url = {https://github.com/MIT-SPARK/Kimera},
   pdf = {https://arxiv.org/pdf/1910.02490.pdf}
 }
@InProceedings{Rosinol20rss-dynamicSceneGraphs,
  title = {{3D} Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},
  author = {A. Rosinol and A. Gupta and M. Abate and J. Shi and L. Carlone},
  year = {2020},
  booktitle = {Robotics: Science and Systems (RSS)},
  pdf = {https://arxiv.org/pdf/2002.06289.pdf}
}

Acknowledgments

Kimera was partially funded by the DCIST (Distributed and Collaborative Intelligent Systems and Technology) Collaborative Research Alliance.

License

BSD License

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