[robotics-worldwide] [software] Maplab - An Open Visual-Inertial Mapping Framework

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[robotics-worldwide] [software] Maplab - An Open Visual-Inertial Mapping Framework

Juan Nieto
Dear all,

We are excited to announce the open-sourcing of maplab, an open, research-oriented visual-inertial mapping framework for creating, processing and manipulating multi-session maps.

On the one hand, maplab can be seen 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 that can create visual-inertial maps and also track a global drift-free pose within a localization map. Maplab has been developed at ETH’s Autonomous Systems Lab and served as a basis for numerous research-projects in visual-inertial localization and mapping.

A preprint discussing the system architecture, several use-cases, and evaluations of the system on public datasets is available
         on arXiv: https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1711.10250&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=2VhPf82cQ4VlgZV4gy24BbqwzTu7xSrczvP_B7I0DG8&e= <https://urldefense.proofpoint.com/v2/url?u=https-3A__arxiv.org_abs_1711.10250&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=2VhPf82cQ4VlgZV4gy24BbqwzTu7xSrczvP_B7I0DG8&e=>

Matlab is made available under the permissive Apache2 license and can be downloaded from:
         https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_maplab&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=1OftLjZ-0AF9r58j4AsF16CuyOg5_MOeR5ZaQ8JDi8c&e= <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ethz-2Dasl_maplab&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=1OftLjZ-0AF9r58j4AsF16CuyOg5_MOeR5ZaQ8JDi8c&e=>
A video demonstrating some of its capabilities is available at:
         https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3D9Ta7w-5Fcs1lU&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=bIPlzP7nz8ppGMK8dhuAqJoVFQC53pUa-6mlshNhw6I&e= <https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3D9Ta7w-5Fcs1lU&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=bIPlzP7nz8ppGMK8dhuAqJoVFQC53pUa-6mlshNhw6I&e=>
We are happy to share this with you all, and look forward to your feedback.

Best,
Maplab Team @ ASL ETH Zürich



Juan Nieto   |   Deputy Director
Autonomous Systems Lab   |  ETH Zürich, LEE J 219
Leonhardstrasse 21   |   Zürich 8092, Switzerland
Ph: +41 44 633 87 49  |  https://urldefense.proofpoint.com/v2/url?u=http-3A__www.nietojuan.com&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=IAjDFqSqdUny-58_omr20_FkjZ14b7oM6AZXuuHilJg&e= <https://urldefense.proofpoint.com/v2/url?u=http-3A__www.nietojuan.com_&d=DwIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=xJhh2Va3j7_kxH95Lt0doXioQpFMCq766cJWbqpHta8&s=vlZqKInmw7LnBK-hjSCimhrFzczDfUZFeK0eiSURjk0&e=>

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