Kimera comprises a fast and accurate VIO pipeline (Kimera-VIO) with SLAM capabilities using Robust Pose Graph Optimization (Kimera-RPGO), a per-frame and multi-frame 3D Mesh generator (Kimera-Mesher), and a semantically annotated 3D Mesh using a volumetric approach (Kimera-Semantics).
If you found any of the above modules useful, we would really appreciate if you could cite our work:
- A. Rosinol, M. Abate, Y. Chang, L. Carlone. Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. arXiv preprint arXiv:1910.02490.
@misc{Rosinol19arxiv-Kimera,
title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
year = {2019},
eprint = {1910.02490},
archiveprefix = {arXiv},
primaryclass = {cs.RO},
url = {https://github.com/MIT-SPARK/Kimera},
pdf = {https://arxiv.org/pdf/1910.02490.pdf}
}