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Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

okvis_ros package from svin repo

okvis_ros pose_graph

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 2.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
Checkout URI https://github.com/autonomousfieldroboticslab/svin.git
VCS Type git
VCS Version main
Last Updated 2025-07-24
Dev Status UNKNOWN
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The okvis_ros package

Additional Links

No additional links.

Maintainers

  • Stefan Leutenegger
  • Bharat Joshi

Authors

  • Stefan Leutenegger
  • Sharmin Rahman
  • Bharat Joshi
okvis_ros/README.md

README

Welcome to OKVIS: Open Keyframe-based Visual-Inertial SLAM.

This is the Author’s implementation of the [1] and [3] with more results in [2].

[1] Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.

[2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.

[3] Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.

Note that the codebase that you are provided here is free of charge and without any warranty. This is bleeding edge research software.

Also note that the quaternion standard has been adapted to match Eigen/ROS, thus some related mathematical description in [1,2,3] will not match the implementation here.

If you publish work that relates to this software, please cite at least [1].

How do I get set up?

This is a catkin package that wraps the pure CMake project.

You will need to install the following dependencies,

  • ROS (currently supported: hydro, indigo and jade). Read the instructions in http://wiki.ros.org/indigo/Installation/Ubuntu. You will need the additional package pcl-ros as (assuming indigo)

      sudo apt-get install ros-indigo-pcl-ros

  • google-glog + gflags,

      sudo apt-get install libgoogle-glog-dev

  • The following should get installed through ROS anyway:

      sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
  sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  • Optional: use the the package with the Skybotix VI sensor. Note that this requires a system install, not just as ROS package. Also note that Skybotix OSX support is experimental (checkout the feature/osx branch).

      git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

then download and expand the archive into your catkin workspace:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip && rm okvis_ros-1.1.3.zip

Or, clone the repository from github into your catkin workspace:

git clone --recursive git@github.com:ethz-asl/okvis_ros.git

or

git clone --recursive https://github.com/ethz-asl/okvis_ros.git

Building the project

From the catkin workspace root, type

catkin_make

You will find a demo application in okvis_apps. It can process datasets in the ASL/ETH format.

In order to run a minimal working example, follow the steps below:

  1. Download a dataset of your choice from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. Assuming you downloaded MH_01_easy/. You will find a corresponding calibration / estimator configuration in the okvis/config folder.

  2. Run the app as

     ./okvis_apps path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

You can also run a dataset processing ros node that will publish topics that can be visualized with rviz

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

Use the rviz.rviz configuration in the okvis_ros/config/ directory to get the pose / landmark display.

If you want to run the live application connecting to a sensor, use the okvis_node

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

Messages

Services

Plugins

No plugins found.

Recent questions tagged okvis_ros at Robotics Stack Exchange