Kimera

Kimera is a C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment. Kimera is modular, ROS-enabled, and runs on a CPU.

Kimera comprises four modules:

A fast and accurate Visual Inertial Odometry (VIO) pipeline (Kimera-VIO)
A full SLAM implementation based on Robust Pose Graph Optimization (Kimera-RPGO)
A per-frame and multi-frame 3D mesh generator (Kimera-Mesher)
And a generator of semantically annotated 3D meshes (Kimera-Semantics)

Click on the following links to install Kimera's modules and get started! It is very easy to install!

Kimera-VIO & Kimera-Mesher

Kimera-RPGO

Kimera-Semantics

Chart

Citation

If you found any of the above modules useful, we would really appreciate if you could cite our work:

[1] A. Rosinol, T. Sattler, M. Pollefeys, L. Carlone. Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. arXiv:1903.01067

@InProceedings{Rosinol19icra-incremental,
  title = {Incremental visual-inertial 3d mesh generation with structural regularities},
  author = {Rosinol, Antoni and Sattler, Torsten and Pollefeys, Marc and Carlone, Luca},
  year = {2019},
  booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
  pdf = {https://arxiv.org/pdf/1903.01067.pdf}
}

[2] A. Rosinol, M. Abate, Y. Chang, L. Carlone, Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020. arXiv:1910.02490.

@InProceedings{Rosinol20icra-Kimera,
  title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
  author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
  year = {2020},
  booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
  url = {https://github.com/MIT-SPARK/Kimera},
  pdf = {https://arxiv.org/pdf/1910.02490.pdf}
}

[3] A. Rosinol, A. Gupta, M. Abate, J. Shi, L. Carlone. 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. Robotics: Science and Systems (RSS), 2020. arXiv:2002.06289.

@InProceedings{Rosinol20rss-dynamicSceneGraphs,
  title = {{3D} Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},
  author = {A. Rosinol and A. Gupta and M. Abate and J. Shi and L. Carlone},
  year = {2020},
  booktitle = {Robotics: Science and Systems (RSS)},
  pdf = {https://arxiv.org/pdf/2002.06289.pdf}
}

Acknowledgments

Kimera was partially funded by the DCIST (Distributed and Collaborative Intelligent Systems and Technology) Collaborative Research Alliance.

License

BSD License

ciwedwang / Kimera