Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
Antoni Rosinol,Marcus Abate,Yun Chang,Luca Carlone,Antoni Rosinol,Marcus Abate,Yun Chang,Luca Carlone
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 semantic labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial od...
