EqF VIO (Equivariant Filter for Visual Inertial Odometry)

This repository contains an implementation of an Equivariant Filter (EqF) for Visual Inertial Odometry (VIO). Please check the wiki for instructions on how to install the project as a ROS node or as a standalone executable.

Dependencies

• Eigen 3: sudo apt install libeigen3-dev
• Yaml-cpp: sudo apt install libyaml-cpp-dev
• GIFT (for feature tracking): https://github.com/pvangoor/GIFT