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C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021

GPL-3.0 license

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Name		Name	Last commit message	Last commit date
Latest commit History 20 Commits
eqf_vio		eqf_vio
eqf_vio_ardupilot		eqf_vio_ardupilot
eqf_vio_ros		eqf_vio_ros
.DS_Store		.DS_Store
.clang-format		.clang-format
.gitignore		.gitignore
EQVIO_config.yaml		EQVIO_config.yaml
LICENSE		LICENSE
README.md		README.md

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EqF VIO (Equivariant Filter for Visual Inertial Odometry)

This repository contains an implementation of an Equivariant Filter (EqF) for Visual Inertial Odometry (VIO).

Dependencies

Eigen 3: sudo apt install libeigen3-dev
Yaml-cpp: sudo apt install libyaml-cpp-dev
GIFT (for feature tracking): https://github.com/pvangoor/GIFT

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C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021

GPL-3.0 license

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