raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update readme

Browse Source
This commit is contained in:
Ke Sun
2017-11-30 14:39:04 -05:00
parent 3555944610
commit ea0fef91dd
1 changed files with 1 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
README.md
View File

@@ -1,14 +1,7 @@
# MSCKF\_VIO # MSCKF\_VIO
<!--
[![Build Status](https://travis-ci.org/KumarRobotics/velodyne_puck.svg?branch=master)](https://travis-ci.org/KumarRobotics/velodyne_puck)
-->
<!-- The `MSCKF_VIO` package is 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.
![Picture of Velodyne Puck](http://velodynelidar.com/images/products/vlp-16/puck.png)
-->
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.
The software is tested on Ubuntu 16.04 with ROS Kinetic. The software is tested on Ubuntu 16.04 with ROS Kinetic.
@@ -92,6 +85,3 @@ Odometry of the IMU frame including a proper covariance.
`feature_point_cloud` (`sensor_msgs/PointCloud2`) `feature_point_cloud` (`sensor_msgs/PointCloud2`)
Shows current features in the map which may be used for estimation. Shows current features in the map which may be used for estimation.
[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.