PVI-DSO-SIM

A basic implementation of coplanar constraints used in PVI-DSO PVI-DSO: Leveraging Planar Regularities for Direct Sparse Visual-Inertial Odometry in simulation environment.

CodeStructure

  We release our basic code structure. In the code, we provide two scenarios (wall and ground) to test the different plane constraints, which can be seen intuitiely from the visual interface. Meanwhile, the constraints of three different modes described in the paper are implemented, including: Points, which represents the point-based method; PP (-L) which represents fusing the co-planar constraints with the loosely coupled method; PP (-T) which represents fusing the co-planar constraints with tightly coupled method. It should be noted that to improve the efficiency of optimization, we do not use automatic derivation or numerical derivation. Linearization of all the constraints is performed by analytical Jacobian.

How to run

1. Prerequisites

1.1 Ubuntu and python

• Ubuntu 16.04 or Ubuntu18.04

1.2. Dependency

• C++14 or C++17 Compiler
• Eigen 3.3.7
• OpenCV 3.4.9
• Boost 1.58.0
• Cere-solver 1.14.0: Ceres Installation, remember to sudo make install.

2. Build Project with Cmake

Clone the repository and compile the project:

git clone https://github.com/boxuLibrary/PVI-DSO-SIM.git
cd ~/PVI-DSO-SIM-master/
mkdir build
cd build
cmake ..
make -j4

3. Run program

Notice: The executable file data_gen is in the bin directory, and you can run it by ./data_gen

cd ../bin
./data_gen

Related Papers

• PVI-DSO: Leveraging Planar Regularities for Direct Sparse Visual-Inertial Odometry.

@article{xu2022pvi,
  title={PVI-DSO: Leveraging Planar Regularities for Direct Sparse Visual-Inertial Odometry},
  author={Xu, Bo and Li, Xin and Li, JianCheng and Yuen, Chau and Dai, JiCheng and Gong, YiQun},
  journal={arXiv preprint arXiv:2204.02635},
  year={2022}
}

If you use the code for your academic research, please cite our related papers. And we use vio_data_simulation as our basic code and generate the simulation data.

License

Distributed under the MIT License.

Contact

We are still working on improving the code reliability. For any technical issues, please feel freely to contact us:

Bo Xu - boxu1995@whu.edu.cn.

Xin Li - lixin.1997.lixin@gmail.com