DRT-PNEC

We propose a new VIO initialization method by extending the rotation-translation-decoupled framework with the addition of uncertainty parameters and optimization modules. This code is the implementation of our proposed method, which runs on Linux.

1. Prerequisites

1.1 Ubuntu

• Ubuntu 18.04

1.2. Dependency

• C++14 or C++17 Compiler
• Eigen 3.3.7
• OpenCV 4.0.0
• Boost 1.58.0
• opengv 1.0.0
• Cere-solver 1.14.0 Ceres Installation
• basalt gitlab
  • clone into thirdparty/basalt with git submodules
    git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git
  • follow their instructions to install

2. Build Project with Cmake

For instructions on how to build and run the project, please refer to drt-vio-initialization.