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Basalt

For more information see https://vision.in.tum.de/research/vslam/basalt

teaser

This project contains tools for:

  • Camera, IMU and motion capture calibration.
  • Visual-inertial odometry and mapping.
  • Simulated environment to test different components of the system.

Some reusable components of the system are available as a separate header-only library (Documentation).

There is also a Github mirror of this project to enable easy forking.

Related Publications

Visual-Inertial Odometry and Mapping:

Calibration (explains implemented camera models):

Calibration (demonstrates how these tools can be used for dataset calibration):

  • The TUM VI Benchmark for Evaluating Visual-Inertial Odometry, D. Schubert, T. Goll, N. Demmel, V. Usenko, J. Stückler, D. Cremers, In 2018 International Conference on Intelligent Robots and Systems (IROS), [DOI:10.1109/IROS.2018.8593419], [arXiv:1804.06120].

Calibration (describes B-spline trajectory representation used in camera-IMU calibration):

Optimization (describes square-root optimization and marginalization used in VIO/VO):

  • Square Root Marginalization for Sliding-Window Bundle Adjustment, N. Demmel, D. Schubert, C. Sommer, D. Cremers, V. Usenko, In 2021 International Conference on Computer Vision (ICCV), [arXiv:2109.02182]

Installation

APT installation for Ubuntu 22.04, 20.04 and 18.04 (Fast)

Set up keys, add the repository to the sources list, update the Ubuntu package index and install Basalt:

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 0AD9A3000D97B6C9
sudo sh -c 'echo "deb [arch=amd64] http://packages.usenko.net/ubuntu $(lsb_release -sc) $(lsb_release -sc)/main" > /etc/apt/sources.list.d/basalt.list'
sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install basalt

Source installation for Ubuntu >= 18.04 and MacOS >= 10.14 Mojave

Clone the source code for the project and build it. For MacOS you should have Homebrew installed.

git clone --recursive https://gitlab.com/VladyslavUsenko/basalt.git
cd basalt
./scripts/install_deps.sh
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j8

Usage

Device support

Development

Licence

The code is provided under a BSD 3-clause license. See the LICENSE file for details. Note also the different licenses of thirdparty submodules.

Some improvements are ported back from the fork granite (MIT license).

Releases

No releases published

Packages

No packages published

Languages

  • C++ 85.1%
  • Python 9.1%
  • CMake 3.9%
  • Shell 1.3%
  • Other 0.6%