98 lines
3.4 KiB
Markdown
98 lines
3.4 KiB
Markdown
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# MSCKF\_VIO
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The `MSCKF_VIO` package is a stereo implementation of the MSCKF algorithm introduced in [1] with modifications. The software takes in synchronized stereo image pairs and IMU messages and generates real-time 6DOF pose estimation of the IMU frame.
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The software is tested on Ubuntu 16.04 with ROS Kinetic.
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Video: [https://www.youtube.com/watch?v=OXSB8Bze0cY](https://www.youtube.com/watch?v=OXSB8Bze0cY)
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Paper: The paper will be available soon.
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## License
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Penn Software License. See LICENSE.txt for further details.
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## Dependencies
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Most of the dependencies are standard including `Eigen`, `OpenCV`, and `Boost`. The standard shipment from Ubuntu 16.04 and ROS Kinetic works fine. One special requirement is `suitesparse`, which can be installed through,
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```
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sudo apt-get install libsuitesparse-dev
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```
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## Compling
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The software is a standard catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work.
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```
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cd your_work_space
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catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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## Calibration
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An accurate calibration is crucial for successfully running the software. To get the best performance of the software, the stereo cameras and IMU should be hardware synchronized. [Kalibr](https://github.com/ethz-asl/kalibr) can be used to calibrate the transformantion between the stereo cameras and IMU. The yaml file generated by Kalibr can be directly used in this software with slight modifications. See `example_calib.yaml` in the `config` folder for the modifications.
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## Example Usage
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There are launch files prepared for the EuRoC and fast flight dataset separately. Upon launching the `msckf_vio_*.launch`, two ros nodes are created:
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* `image_processor` takes the stereo images to detect and track features.
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* `vio` takes the feature measurements and tightly fuses them with the IMU messages to estimate pose.
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### `image_processor` node
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**Subscribed Topics**
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`imu` (`sensor_msgs/Imu`)
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IMU messages is used for compensating rotation in feature tracking, and 2-point RANSAC.
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`camx_image` (`sensor_msgs/Image`)
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Synchronized stereo images.
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**Published Topics**
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`features` (`msckf_vio/CameraMeasurement`)
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Records the feature measurements on the current stereo image pair.
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`tracking_info` (`msckf_vio/TrackingInfo`)
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Records the feature tracking status for debugging purpose.
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`debug_stereo_img` (`sensor_msgs::Image`)
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Draw current features on the stereo images for debugging purpose. Note that this debugging image is only generated upon subscription.
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### `vio` node
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**Subscribed Topics**
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`imu` (`sensor_msgs/Imu`)
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IMU measurements.
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`features` (`msckf_vio/CameraMeasurement`)
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Stereo feature measurements from the `image_processor` node.
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**Published Topics**
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`odom` (`nav_msgs/Odometry`)
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Odometry of the IMU frame including a proper covariance.
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`feature_point_cloud` (`sensor_msgs/PointCloud2`)
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Shows current features in the map which may be used for estimation.
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[1] Mourikis, Anastasios I., and Stergios I. Roumeliotis. "A multi-state constraint Kalman filter for vision-aided inertial navigation." Robotics and automation, 2007 IEEE international conference on. IEEE, 2007.
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