#45 · Primary category： Robotics & Embodied AI Simulation
Kimera
Index repo for Kimera code
Project last updated：01/30/21
GitHub Stars
2.1K
Forks
241
Contributors
3
License
BSD-2-Clause
Why we included this project
Robotics teams that need a robot to know not just where it is but what it is looking at can start here. Kimera is a modular C++ library that fuses camera images with inertial data to keep a platform localized while building a 3D mesh of the environment where each surface carries a semantic label. The project is split into four linked modules covering visual-inertial odometry, pose-graph SLAM, mesh generation, and semantic meshing, and this repo is the index that points you to the right install page for each one. It is ROS-enabled and runs on a CPU, which matters for real mobile platforms that cannot lean on a GPU. The README also links visual-inertial datasets and a photo-realistic simulator for testing your own metric-semantic SLAM work.
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