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HybVIO visual-inertial odometry and SLAM system
| Date | Stars |
|---|---|
| 2026-07-24 | 545 |
| 2026-07-25 | 545 |
| 2026-07-28 | 545 |
| 2026-07-30 | 545 |
| 2026-08-06 | 545 |
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# HybVIO **A visual-inertial odometry system with an optional SLAM module**. This is a research-oriented codebase, which has been published for the purposes of verifiability and reproducibility of the results in the paper: * Otto Seiskari, Pekka Rantalankila, Juho Kannala, Jerry Ylilammi, Esa Rahtu, and Arno Solin (2022). **HybVIO: Pushing the limits of real-time visual-inertial odometry**. In *IEEE Winter Conference on Applications of Computer Vision (WACV)*. [[arXiv pre-print]](https://arxiv.org/abs/2106.11857) | [[video]](https://youtu.be/8V_EGJrPHeA) It can also serve as a baseline in VIO and VISLAM benchmarks. The code is not intended for production use and does not represent a particularly clean or simple way of implementing the methods described in the above paper. The code contains numerous feature flags and parameters (see `codegen/parameter_definitions.c`) that are not used in the HybVIO but may (or may not) be relevant in other scenarios and use cases.  ## Setup Here are basic instructions for setting up the project, there is some more detailed help included in the later sections (e.g., for Linux). * Install CMake, glfw and ffmpeg, e.g., by `brew install cmake glfw ffmpeg`. * Clone this repository with the `--recursive` option (this will take a while) * Build dependencies by running `cd 3rdparty/mobile-cv-suite; ./scripts/build.sh` * Make sure you are using `clang` to compile the C++ sources (it's the default on Macs). If not default, like on many Linux Distros, you can control this with environment variables, e.g., `CC=clang CXX=clang++ ./scripts/build.sh` * (optional) In order to be able to use the SLAM module, run `./src/slam/download_orb_vocab.sh` Then, to build the main and test binaries, perform the standard CMake routine: ``` bash mkdir target cd target cmake -DBUILD_VISUALIZATIONS=ON -DUSE_SLAM=ON .. # or if not using clang by default: # CC=clang CXX=clang++ cmake .. make -j6 ``` Now the `target` folder should contain the binaries `main` and `run-tests`. After making changes to code, only run `make`. Tests can be run with the binary `run-tests`. To compile faster, pass `-j` argument to `make`, or use a program like `ccache`. To run faster, check `CMakeLists.txt` for some options. ### Troubleshooting: disabling GPU visualizations and acceleration If you see error messages related to OpenGL or GLFW, try building without visualizations ```bash cd 3rdparty/mobile-cv-suite && BUILD_VISUALIZATIONS=OFF ./scripts/build.sh cd ../..; mkdir -p target; cd target cmake -DBUILD_VISUALIZATIONS=OFF -DUSE_SLAM=ON .. ``` or without any GPU support ```bash cd 3rdparty/mobile-cv-suite && WITH_OPENGL=OFF BUILD_VISUALIZATIONS=OFF ./scripts/build.sh cd ../..; mkdir -p target; cd target cmake -DBUILD_VISUALIZATIONS=OFF -DBUILD_WITH_GPU=OFF -DUSE_SLAM=ON .. ``` ### Arch Linux List of packages needed: clang, cmake, ffmpeg, glfw, gtk3 ### Debian On Debian Stretch, had to install (some might be optional): clang, libc++-dev, libgtk2.0-dev, libgstreamer1.0-dev, libvtk6-dev, libavresample-dev. ### Raspberry Pi/Raspbian On Raspbian (Pi 4, 8 GiB), had to install at least: libglfw3-dev and libglfw3 (for accelerated arrays) and libglew-dev and libxkbcommon-dev (for Pangolin, still had problems). Also started off with the Debian setup above. ## Benchmarking and the `main` binary To run benchmarks on EuRoC, TUM and SenseTime datasets and reproduce numbers published in https://arxiv.org/abs/2106.11857, please follow the instructions in https://github.com/AaltoML/vio_benchmark/tree/main/hybvio_runner. If you want to test the software on individual datasets, e.g. to see various real-time visualizations, you can use the `main` binary. For example to run an EuRoC dataset, you can do the following: 1. In [`vio_benchmark`](https://github.com/AaltoML/vio_benchmark) root folder, run `python convert/euroc_to_benchmark.py` to download and convert the EuRoC d
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:9659f795ae5d047b, topic:slam, desc:slam, readme:slam
matched fp:9659f795ae5d047b, topic:computer-vision, readme:computer vision