OrcVIO: A C++ repository from shanmo

OrcVIO

This repo implements OrcVIO: Object residual constrained Visual-Inertial Odometry

Dependencies

The core algorithm depends on Eigen, Boost, Suitesparse, Ceres, OpenCV, Sophus.

Usage

Non-ROS version

cd ORCVIO
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release ..
make

and then

cd YOUR_PATH/ORCVIO/
./build/orcvio ~/YOUR_PATH_TO_DATASET/MH_01/mav0/imu0/data.csv ~/YOUR_PATH_TO_DATASET/MH_01/mav0/cam0/data.csv ~/YOUR_PATH_TO_DATASET/MH_01/mav0/cam0/data ~/YOUR_PATH/LARVIO/config/euroc.yaml

cd YOUR_PATH/ORCVIO/
./build/orcvio /media/erl/disk2/euroc/MH_01_easy/mav0/imu0/data.csv /media/erl/disk2/euroc/MH_01_easy/mav0/cam0/data.csv /media/erl/disk2/euroc/MH_01_easy/mav0/cam0/data /home/erl/Workspace/orcvio_cpp/config/euroc.yaml

to debug using VS code, define VS_DEBUG_MODE, then run

cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
make

this will generate the compile_commands.json in the build folder

ROS version

how to build

cd YOUR_PATH/ORCVIO/ros_wrapper
catkin_make

and then

source YOUR_PATH/ORCVIO/ros_wrapper/devel/setup.bash
roslaunch orcvio orcvio_euroc.launch

how to setup front end refer to wiki
we also have an OrcVIO-lite version which only uses bounding boxes, no keypoints, this mode can be enabled by changing the flag in the launch file
visualization

trajectory is more accurate with object residual update trajectory is less accurate without object residual update

Evaluation

unit test (Non-ROS version)

The tests are compiled by default and have to be run from top of the project directory

$ mkdir -p build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=True ..
$ make
$ cd .. && ./build/orcvio_tests ; cd -

Or directly run make test from build directory and the test logs are saved in build/Testing/Temporary/LastTest.log.

VIO

evaluation on EuRoC dataset

cd into python_scripts/trajectory_eval/ folder and python batch_run_euroc.py
comparison with LARVIO
comparison of left and right purbation in VIO

trajectory evaluation using KITTI dataset error metric

cd into python_scripts/trajectory_eval/ folder and python traj_eval.py

Object mapping

object map result is saved under cache/object_map
cd into python_scripts/object_map_eval/ folder and python unity_object_iou_eval.py to get the 3D IOU results when using Unity simulation; to enable debug mode use python3 unity_object_iou_eval.py
cd into python_scripts/object_map_eval/ folder and python3 kitti_object_iou_eval_single_sequence.py to get the 3D IOU results for one sequence in KITTI, python kitti_construct_pr_table_all_sequences.py to get the PR table for KITTI

Citation

@inproceedings{orcvio,
  title = {OrcVIO: Object residual constrained Visual-Inertial Odometry},
  author={M. {Shan} and Q. {Feng} and N. {Atanasov}},
  year = {2020},
  booktitle={IEEE Intl. Conf. on Intelligent Robots and Systems (IROS).},
  url = {https://moshanatucsd.github.io/orcvio_githubpage/},
  pdf = {https://arxiv.org/abs/2007.15107}
}

License

MIT License
Copyright (c) 2020 ERL at UCSD

shanmo/OrcVIO