raphael/msckf_vio
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Kartik Mohta 2018-01-13 20:47:42 -05:00
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@ -5,7 +5,7 @@ The `MSCKF_VIO` package is a stereo version of MSCKF. The software takes in sync
The software is tested on Ubuntu 16.04 with ROS Kinetic. The software is tested on Ubuntu 16.04 with ROS Kinetic.
Video: [https://www.youtube.com/watch?v=OXSB8Bze0cY](https://www.youtube.com/watch?v=jxfJFgzmNSw&t=3s) Video: [https://www.youtube.com/watch?v=jxfJFgzmNSw&t=3s](https://www.youtube.com/watch?v=jxfJFgzmNSw&t=3s)
Paper Draft: [https://arxiv.org/abs/1712.00036](https://arxiv.org/abs/1712.00036) Paper Draft: [https://arxiv.org/abs/1712.00036](https://arxiv.org/abs/1712.00036)
## License ## License
@ -30,12 +30,12 @@ catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
## Calibration ## Calibration
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 calibration files in the `config` folder for details. The two calibration files in the `config` folder should work directly with the EuRoC and [fast flight](https://github.com/KumarRobotics/msckf_vio/wiki) datasets. The convention of the calibration file is as follows: 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. Note that for the stereo calibration, which includes the camera intrinsics, distortion, and extrinsics between the two cameras, you have to use a calibration software. **Manually setting these parameters will not be accurate enough.** [Kalibr](https://github.com/ethz-asl/kalibr) can be used for the stereo calibration and also to get the transformation between the stereo cameras and IMU. The yaml file generated by Kalibr can be directly used in this software. See calibration files in the `config` folder for details. The two calibration files in the `config` folder should work directly with the EuRoC and [fast flight](https://github.com/KumarRobotics/msckf_vio/wiki) datasets. The convention of the calibration file is as follows:
`camx/T_cam_imu`: takes a vector from the IMU frame to the camx frame. `camx/T_cam_imu`: takes a vector from the IMU frame to the camx frame.
`cam1/T_cn_cnm1`: takes a vector from the cam0 frame to the cam1 frame. `cam1/T_cn_cnm1`: takes a vector from the cam0 frame to the cam1 frame.
The filter requires 200 IMU messages to initialize gyro bias, acc bias, and initial orientation. Therefore, the robot is required to start from static in order to initialize the VIO successfully. The filter uses the first 200 IMU messages to initialize the gyro bias, acc bias, and initial orientation. Therefore, the robot is required to start from a stationary state in order to initialize the VIO successfully.
## Example Usage ## Example Usage