Kimera: An Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

Kimera: An Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

© 2020 IEEE. We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS-Mono, OKVIS, ROVIO) by enabling mesh reconstruction and sema...

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Bibliographic Details
Main Authors: Rosinol, Antoni, Abate, Marcus, Chang, Yun, Carlone, Luca
Other Authors: Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Format: Article
Language:English
Published: IEEE 2021
Online Access:https://hdl.handle.net/1721.1/137276

Internet

https://hdl.handle.net/1721.1/137276

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