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HyperSensors

Implementations of common sensing modalities for computer vision.
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About

HyperSensors are part of the HyperSLAM framework and implement, based on the HyperVariables repository, the physical sensor models (i.e. absolute sensor, pinhole camera and inertial measurement unit models) employed in HyperSLAM. If you use this repository, please cite it as below.

@article{RAL2022Hug,
    author={Hug, David and B\"anninger, Philipp and Alzugaray, Ignacio and Chli, Margarita},
    journal={IEEE Robotics and Automation Letters},
    title={Continuous-Time Stereo-Inertial Odometry},
    year={2022},
    volume={7},
    number={3},
    pages={6455-6462},
    doi={10.1109/LRA.2022.3173705}
}

Note: Development on HyperSLAM-related repositories has been discontinued.

Installation

HyperSensors depends on the HyperVariables and HyperState libraries and uses features from the C++20 standard (see link to update gcc and g++ alternatives). All dependencies aside from the ones contained in the setup.sh script are automatically fetched during compilation. The compilation process itself (without additional compile flags) is as follows:

# Clone repository.
git clone https://github.com/VIS4ROB-lab/HyperSensors.git && cd HyperSensors/

# Run setup.
chmod +x setup.sh
sudo setup.sh

# Build repository.
mkdir build && cd build
cmake ..
make

Literature

  1. Continuous-Time Stereo-Inertial Odometry, Hug et al. (2022)
  2. HyperSLAM: A Generic and Modular Approach to Sensor Fusion and Simultaneous
    Localization And Mapping in Continuous-Time, Hug and Chli (2020)
  3. Extending kalibr: Calibrating the Extrinsics of Multiple
    IMUs and of Individual Axes, Rehder et al. (2016)

Updates

25.07.22 Initial release of HyperSensors.

Contact

Admin - David Hug, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland
Maintainer - Philipp Bänninger, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland
Maintainer - Ignacio Alzugaray, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland

License

HyperSensors are distributed under the BSD-3-Clause License.