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Harness the power of GPU acceleration for fusing visual odometry and IMU data with an advanced Unscented Kalman Filter (UKF) implementation. Developed in C++ and utilizing CUDA, cuBLAS, and cuSOLVER, this system offers unparalleled real-time performance in state and covariance estimation for robotics and autonomous system applications.

Home Page: https://github.com/jagennath-hari/CUDA-Accelerated-Visual-Inertial-Odometry-Fusion

License: BSD 3-Clause "New" or "Revised" License

CMake 3.62% C++ 42.86% Cuda 52.58% Python 0.95%
cublas cuda cusolver imu-sensor kalman-filter robotics sensor-fusion state-estimation visual-inertial-odometry visual-odometry

cuda-accelerated-visual-inertial-odometry-fusion's Introduction

I am a robotics engineer/researcher with over 3 years of experience in autonomous systems, specialized in creating and deploying real-time SLAM algorithms for robotic systems.

  • 🧑‍💻 I'm currently working on a SLAM based Guassian Splatting for high precision 3D Reconstruction and visual odometry using TAPNET.

  • 📄 My recent publication Efficient Real-Time Localization in Prior Indoor Maps Using Semantic SLAM can be found on IEEE Explore.

  • 🙇‍♂️ I’m currently learning Implementation of Monocular Visual Odometry in cuBLAS and cuSOLVER using Depth Anything Network.

  • 📫 How to reach me [email protected].

  • 🤪 Fun fact I love watching soccer ⚽️.

📲 Connect with me:

jagennath-hari

🛠️ Technologies & Tools 🛠️

arduino Raspberry Pi NVIDIA Jetson c cplusplus csharp docker git gtk matlab objectivec opencv python pytorch qt scikit_learn tensorflow ROS1 ROS2

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cuda-accelerated-visual-inertial-odometry-fusion's Issues

Output at IMU rate?

Hi, and thanks for making this code available.

It looks like it takes odometry and IMU data at the same rate, is that right?

Is it possible to run input at both camera odometry (rg, 30hz) and IMU (200 Hz), and output at the IMU rate?

Also, my use case involves using just IMU data to calculate output for small times if camera odometry tracking is momentarily lost, can I do that here?

Thanks!

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