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This repository contains maplab, an open, research-oriented visual-inertial mapping framework, written in C++, for creating, processing and manipulating multi-session maps. On the one hand, maplab can be considered as a ready-to-use visual-inertial mapping and localization system. On the other hand, maplab provides the research community with a collection of multi-session mapping tools that include map merging, visual-inertial batch optimization, and loop closure.

Furthermore, it includes an online frontend, ROVIOLI, that can create visual-inertial maps and also track a global drift-free pose within a localization map.

For documentation, tutorials and datasets, please visit the wiki.

Please also check out our video:

https://youtu.be/9Ta7w_cs1lU

Robust visual-inertial odometry with localization

Large-scale multisession mapping and optimization

Dense reconstruction

A research platform extensively tested on real robots

Installation and getting started

The following articles help you with getting started with maplab and ROVIOLI:

More detailed information can be found in the wiki pages.

Research Results

The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to Research based on maplab.

Citing

Please cite the following paper when using maplab for your research:

@article{schneider2018maplab,
  title={maplab: An Open Framework for Research in Visual-inertial Mapping and Localization},
  author={Schneider, Thomas and Dymczyk, Marcin and Fehr, Marius and Egger, Kevin and
          Lynen, Simon and Gilitschenski, Igor and Siegwart, Roland},
  journal={arXiv preprint arXiv:1711.10250},
  year={2018}
}

Additional Citations

Certain components of maplab are directly using the code of the following publications:

  • Localization:
    @inproceedings{lynen2015get,
      title={Get Out of My Lab: Large-scale, Real-Time Visual-Inertial Localization.},
      author={Lynen, Simon and Sattler, Torsten and Bosse, Michael and Hesch, Joel A and Pollefeys, Marc and Siegwart, Roland},
      booktitle={Robotics: Science and Systems},
      year={2015}
    }
  • ROVIOLI which is composed of ROVIO + maplab for map building and localization:
    @article{bloesch2017iterated,
      title={Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback},
      author={Bloesch, Michael and Burri, Michael and Omari, Sammy and Hutter, Marco and Siegwart, Roland},
      journal={The International Journal of Robotics Research},
      volume={36},
      number={10},
      pages={1053--1072},
      year={2017},
      publisher={SAGE Publications Sage UK: London, England}
    }

Credits

  • Thomas Schneider
  • Marcin Dymczyk
  • Marius Fehr
  • Kevin Egger
  • Simon Lynen
  • Mathias Bürki
  • Titus Cieslewski
  • Timo Hinzmann
  • Mathias Gehrig

For a complete list of contributors, have a look at CONTRIBUTORS.md

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An open visual-inertial mapping framework.

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