Home
Ke Sun edited this page Dec 4, 2017
·
4 revisions
The MSCKF_VIO package is a stereo version of MSCKF. The software takes in synchronized stereo images and IMU messages and generates real-time 6DOF pose estimation of the IMU frame.
The software is tested on Ubuntu 16.04 with ROS Kinetic.
Video:https://www.youtube.com/watch?v=OXSB8Bze0cY
Paper Draft:https://arxiv.org/abs/1712.00036
Penn Software License. See LICENSE.txt for further details.
The fast flight dataset can be found here.