EqVIO (Equivariant Visual Inertial Odometry)

This repository contains the implementation of EqVIO: An Equivariant Filter (EqF) for Visual Inertial Odometry (VIO).

Please see https://pvangoor.github.io/eqvio_docs/ for the documentation.

Dependencies

• Eigen 3: sudo apt install libeigen3-dev
• Yaml-cpp: sudo apt install libyaml-cpp-dev
• GIFT: https://github.com/pvangoor/GIFT

Optional Dependencis

• FreeGLUT (for visualisations): sudo apt install freeglut3-dev
• ROS (for reading ROS-Bags): http://wiki.ros.org/ROS/Installation
• Doxygen (for documentation): sudo apt install doxygen

Build Guide (for ros users)

Modify the following settings in cmake if you want ROS compatibility. You can use command-line cmake, use cmake-gui for convenience, or edit the CMakeLists.txt directly.

EQVIO_BUILD_TESTS ON
EQVIO_BUILD_VISUALISATION ON
EQVIO_BUILD_ROSBAG ON
EQVIO_SUPPORT_CONCEPTS OFF
EXTRA_WARNINGS ON

Then do the following commands from a terminal in the main directory to build EqVIO:

mkdir build
cd build
cmake ..  
cmake --build . -j8

Running Guide

ASL Dataset Format

The file intrinsics.yaml is not needed as the required data is included in each sensor folder. Run EqVIO with:

./build/eqvio_opt  ~/datasets/euroc_asl/V1_01_easy/ configs/EQVIO_config_EuRoC_stationary.yaml --display --mode asl

You will need to replace the dataset directory with a directory of your choice.

ROS bag

The intrinsics.yaml file is extracted from the sensors'.yaml files. Since all of the sensors in the EuRoC dataset are identical, one intrinsics.yaml suits all. If you plan to use a different dataset, you will need to change the intrinsics to match accordingly. The example file is located in the root folder. To use it, you should place the intrinsics.yaml file in the same folder as the ROSbags you wish to use:

Run EqVIO on ROSbags using:

./build/eqvio_opt  ./data/euroc/MH_03_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

./build/eqvio_opt  ./data/euroc/V1_02_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

And result can be seen in the output file.