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:
- 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), 2019.
@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}
}
Acknowledgments
Kimera was partially funded by the DCIST (Distributed and Collaborative Intelligent Systems and Technology) Collaborative Research Alliance.