xivo
An open-source visual-inertial odometry system that estimates camera motion and sparse 3D maps from camera and IMU data.
What is xivo?
XIVO is an open-source visual-inertial odometry system that estimates the 6-degree-of-freedom pose of a camera and builds sparse 3D maps from video and IMU data. It solves the problem of real-time motion tracking and environment mapping for robotic and augmented reality applications by fusing visual features with inertial measurements. The system includes auto-calibration of camera-IMU alignment and runs efficiently at high frame rates.
Researchers, students, and developers working on robotics, autonomous systems, augmented reality, or computer vision who need a real-time visual-inertial odometry solution. It's particularly suited for educational purposes due to its simplified, pedagogical design.
Developers choose XIVO for its high performance (140 FPS), real-time capabilities, and robust auto-calibration features. As an open-source, simplified version of the Corvis system, it provides a clear implementation for learning and prototyping visual-inertial odometry without sacrificing efficiency.
Overview
X Inertial-aided Visual Odometry
Use Cases
Best For
- Educational projects teaching visual-inertial odometry principles
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