EqVIO (Equivariant Visual Inertial Odometry)

This repository contains the implementation of EqVIO: An Equivariant Filter (EqF) for Visual Inertial Odometry (VIO).

Please see https://pvangoor.github.io/eqvio_docs/ for the documentation.

Dependencies

• Eigen 3: sudo apt install libeigen3-dev
• Yaml-cpp: sudo apt install libyaml-cpp-dev
• GIFT: https://github.com/pvangoor/GIFT

Optional Dependencis

• FreeGLUT (for visualisations): sudo apt install freeglut3-dev
• ROS (for reading ROS-Bags): http://wiki.ros.org/ROS/Installation
• Doxygen (for documentation): sudo apt install doxygen

Issues

Sometimes Eigen3 appears missing from CMake because of linker. Run these commands to repair:
cd /usr/include
sudo ln -sf eigen3/Eigen Eigen
sudo ln -sf eigen3/unsupported unsupported