HyperSLAM

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HyperSLAM

Modular, open-source implementations of continuous-time simultaneous localization and mapping algorithms.
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About

Almost there... We target July/August 2022 as the official release date of 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}
}

Literature

1. Continuous-Time Stereo-Inertial Odometry, Hug et al. (2022)
2. HyperSLAM: A Generic and Modular Approach to Sensor Fusion and Simultaneous
   Localization And Mapping in Continuous-Time, Hug and Chli (2020)
3. Efficient Derivative Computation for Cumulative B-Splines on Lie Groups, Sommer et al. (2020)
4. A Micro Lie Theory for State Estimation in Robotics, Solà et al. (2018)
5. A Primer on the Differential Calculus of 3D Orientations, Bloesch et al. (2016)
6. A Generic Camera Model and Calibration Method for Conventional,
   Wide-Angle, and Fish-Eye Lenses, Kannala and Brandt (2006)
7. Single View Point Omnidirectional Camera Calibration from Planar Grids, Mei and Rives (2007)

Updates

25.07.22 Initial release of HyperSensors submodule.
19.07.22 Initial release of HyperState submodule.
17.06.22 Initial release of HyperVariables submodule.

Contact

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

License

HyperSLAM is distributed under the BSD-3-Clause License.