VINSEval

VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms

Introduction

VINSEval is a unified evaluation framework to evaluate with statistical relevance the consistency and robustness of VINS algorithms in a fully automated fashion over a multitude of parameters and parameter ranges.

How to

For a detailed description on how to install and use the framework, please refer to our Wiki page.

Fast Installation

1. Install all required prequesites

# UPDATE
sudo apt update
# ROS PACKAGES
export ROS_DISTRO=$(rosversion -d)
sudo apt install ros-${ROS_DISTRO}-tf \
  ros-${ROS_DISTRO}-cv-bridge \
  ros-${ROS_DISTRO}-message-filters \
  ros-${ROS_DISTRO}-image-transport \
  ros-${ROS_DISTRO}-rosbaglive
# GRAPHIC DRIVERS
sudo apt install -y libzmqpp-dev libeigen3-dev
sudo apt install -y libvulkan1 vulkan-utils gdb
# NOTE: For AMD GPUs run also sudo apt install -y mesa-vulkan-drivers

1. Clone this repository and initialise its ROS workspace

git clone https://github.com/aau-cns/vins_eval.git vinseval_cws
# Init submodules
cd vinseval_cws
git submodule update --init --recursive --remote
# Init workspace
catkin init
echo 'source ~/vinseval_cws/devel/setup.bash' >> ~/.bashrc
# Build workspace
export ROS_DISTRO=$(rosversion -d)
rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y

Now you can use either the provided Docker environment or build it on your system yourself. Please consult the Wiki for a detailed explanation on both install and use cases.

Authors

• Alessandro Fornasier (email)
• Martin Scheiber (email)
• Alexander Hardt-Stremayr (email)
• Roland Jung (email)

License

This software is made available to the public to use (source-available), licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the LICENSE file. No license in patents is granted.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding paper and consult the LICENSE file for a detailed explanation.

@inproceedings{vinseval,
   author   = {Alessandro Fornasier and Martin Scheiber and Alexander Hardt-Stremayr and Roland Jung and Stephan Weiss},
   journal  = {2021 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA21 - accepted)},
   title    = {VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms},
   year     = {2021},
}