R-VIO is an efficient, lightweight, robocentric visual-inertial odometry algorithm for consistent 3D motion tracking using only a monocular camera and a 6-axis IMU. Different from standard world-centric VINS algorithms which directly estimate absolute motion of the sensing platform with respect to a fixed, gravity-aligned, global frame of reference, R-VIO estimates the relative motion of higher accuracy with respect to a moving, local frame (for example, IMU frame) and updates global pose (orientation and position) estimate through composition. This code is developed with the robocentric sliding-window filtering-based VIO framework that was originally proposed in our IROS2018 paper and further extended in our recent IJRR paper:

• Zheng Huai and Guoquan Huang, Robocentric visual-inertial odometry, The International Journal of Robotics Research (IJRR), July 2019: here.

• Zheng Huai and Guoquan Huang, Robocentric visual-inertial odometry, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 1-5, 2018: here.

Video (on EuRoC and our handheld datasets): https://www.youtube.com/watch?v=UtiZ0EKa55M.

Video (on our 9.8km urban driving dataset): https://www.youtube.com/watch?v=l9IC2ddBEYQ.

We have tested the code under Ubuntu 16.04 and ROS Kinetic.

Download and install instructions can be found at: http://wiki.ros.org/kinetic/Installation/Ubuntu.

Additional ROS packages needed: tf, sensor_msgs, geometry_msgs, nav_msgs, cv_bridge, eigen_conversions.

Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

Download and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with 2.4.11 and 3.3.1.

First, git clone the repository and catkin_make it. Then, to run rvio with single camera/IMU inputs from the ROS topics /camera/image_raw and /imu, a config file in config folder and the corresponding launch file in launch folder (for example, rvio_euroc.yaml and euroc.launch are for EuRoC dataset) are needed, and to visualize the outputs of R-VIO please use rviz with the settings file rvio_rviz.rviz in config folder.

Terminal 1: roscore

Terminal 2: rviz (AND OPEN rvio_rviz.rviz IN THE CONFIG FOLDER)

Terminal 3: roslaunch rvio euroc.launch

Terminal 4: rosbag play --pause V1_01_easy.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu

You can also run R-VIO with your own sensor (data) by creating a config file rvio_NAME_OF_YOUR_DATA.yaml in config folder and the corresponding launch file NAME_OF_YOUR_DATA.launch in launch folder referring to the above EuRoC example.

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issue, please contact Zheng Huai: [email protected].

For commercial inquiries, please contact Guoquan (Paul) Huang: [email protected].