EqVIO (Equivariant Visual Inertial Odometry)

This repository contains the implementation of EqVIO: 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

Optional Dependencis

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

GitHub

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