msckf_vio

Modified version of KumarRobotics/msckf_vio (commit e3a39a9 on Jul 26, 2019), 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.

• tested on Ubuntu 16.04 with ROS Kinetic
• Paper Draft: Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

---

Build

mkdir -p ws_msckf/src
cd ws_msckf/src
git clone xxx
cd ../
catkin_make --pkg msckf_vio [--cmake-args -DCMAKE_BUILD_TYPE=Release]

Run

with Dataset

• run with EuRoC dataset

  rosbag play -s 25 MH_01_easy.bag
  # or
  rosbag play V1_01_easy.bag
  
  roslaunch msckf_vio msckf_vio_euroc.launch [rviz:=true]

  

• Note

  • First obtain either the EuRoC or the UPenn fast flight dataset.
  • Recommended EuRoC ROS Bags: Vicon Room 1 01、Vicon Room 1 02
  • If running with MH_01_easy.bag, it will drift quickly.

with Live Camera

• run with MYNTEYE-S1030 (Stereo + IMU)

  roslaunch msckf_vio msckf_vio_mynteye_s1030.launch [rviz:=true]