PL-VIWO

A Lightweight and Robust Point-Line Monocular Visual Inertial Wheel Odometry

Authors: Zhixin Zhang, Wenzhi Bai, Liang Zhao and Pawel Ladosz

Code Release Coming Soon!🚀

The code is preparing and will be released soon. 👀

Video

Related Papers

The paper is under review.

Test Environment

We use the KAIST Complex Urban Dataset to test our algorithm. Examples on KAIST Urban27:

Dependencies

• OpenCV 4.2
• Eigen 3
• ROS noetic

Run Examples

Note❗: This system is based on a monocular setup, please set the camera number to 1 in the Config file.

roslaunch viwo rosbag.launch config:=kaist/kaist_LC path_gt:=urban26.txt path_bag:=urban26.bag

rviz -d mins/launch/display.rviz

For the rosbag files and ground truths used for test, please refer to MINS.

Benchmark

For the benchmark used in our paper, we also open-source the modified version for the convenience of the community. The difference is add KAIST datasets Config file and disabled some functions, like loop closure or re-localization. The code will coming soon.

Acknowledgements

This project was built on top of the following works.

• OpenVINS: Open-source filter-based visual-inertial estimator.
• MINS: An efficient, robust, and tightly-coupled Multisensor-aided Inertial Navigation System (MINS)

Thanks for the wonderful work and open-source from Robot Perception & Navigation Group (RPNG).