An Efficient Iterated EKF-based Direct Visual-Inertial Odometry for MAVs Using a Single Plane Primitive

By Shangkun Zhong and Pakpong Chirarattananon

Introduction

As an incremental work, this letter proposes an efficient visual-inertial estimator for aerial robots. For more details, please refer to our RA-L paper.

Dependencies

c++11, opencv, eigen, kindr, boost, glog, gflags

Getting started

Compilation

Please run the following commands to compile the code.

mkdir build
cd build
cmake ..
make

Run

The collected datasets in the paper can be downloaded here. To run the algorithm with the datasets, for example, extract the seq1 (1.zip)

unzip 1.zip

and run:

./build/main --yaml_path bebop_bottom.yaml --data_path seq1_dir/1 --output_path results/

Contact

If you have any questions, please contact me at 291790832@qq.com.