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Welcome to the msckf_vio wiki

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.

The software is tested on Ubuntu 16.04 with ROS Kinetic.

Video:https://www.youtube.com/watch?v=OXSB8Bze0cY
Paper Draft:https://arxiv.org/abs/1712.00036

License

Penn Software License. See LICENSE.txt for further details.

Dataset

The fast flight dataset can be found here.