ETIO

This repository contains code for Edge-based monocular thermal-inertial odometry in visually degraded environments.

1. Dependency

• Basic libraries for common SLAM (e.g. openCV 4, pcl-1.10, ceres-solver-1.14 etc.)

2. Run Examples

mkdir -p YOUR_NAME_OF_WORKSPACE/src
cd YOUR_NAME_OF_WORKSPACE/src
git clone https://github.com/HITSZ-NRSL/ETIO.git
cd ..

catkin_make or catkin build

roslaunch mytool mytool.launch 
roslaunch etio tau2.launch

For validation, the public datasets are provided: dowload link

3. Citation

If you use our work, please cite:

@ARTICLE{10048516,
  author={Wang, Yu and Chen, Haoyao and Liu, Yufeng and Zhang, Shiwu},
  journal={IEEE Robotics and Automation Letters}, 
  title={Edge-Based Monocular Thermal-Inertial Odometry in Visually Degraded Environments}, 
  year={2023},
  volume={8},
  number={4},
  pages={2078-2085},
  keywords={Image edge detection;Cameras;Feature extraction;Visualization;State estimation;Robustness;Noise measurement;Localization;search and rescue robots;visual-inertial SLAM},
  doi={10.1109/LRA.2023.3246381}}

LICENSE

The source code is released under GPLv3 license.