Implementations of common sensing modalities for computer vision.
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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}
}
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
- Continuous-Time Stereo-Inertial Odometry, Hug et al. (2022)
- HyperSLAM: A Generic and Modular Approach to Sensor Fusion and Simultaneous
Localization And Mapping in Continuous-Time, Hug and Chli (2020) - Extending kalibr: Calibrating the Extrinsics of Multiple
IMUs and of Individual Axes, Rehder et al. (2016)
25.07.22 Initial release of HyperSensors.
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
HyperSensors are distributed under the BSD-3-Clause License.