Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
A recent paper by members of the DCIST alliance develops 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, VINSMono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D. Kimera is designed with modularity in mind […]