Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

6 Oct 2019 Antoni Rosinol Marcus Abate Yun Chang Luca Carlone

We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS- Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D... (read more)

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