hyperstate
Collection of discrete- and continuous-time motion parametrizations.
Science Score: 75.0%
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✓CITATION.cff file
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✓codemeta.json file
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✓DOI references
Found 1 DOI reference(s) in README -
✓Academic publication links
Links to: arxiv.org, ieee.org -
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Organization vis4rob-lab has institutional domain (www.v4rl.ethz.ch) -
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○Scientific vocabulary similarity
Low similarity (14.0%) to scientific vocabulary
Keywords
Repository
Collection of discrete- and continuous-time motion parametrizations.
Basic Info
- Host: GitHub
- Owner: VIS4ROB-lab
- License: bsd-3-clause
- Language: C++
- Default Branch: main
- Homepage: https://github.com/VIS4ROB-lab/HyperSLAM
- Size: 135 KB
Statistics
- Stars: 12
- Watchers: 4
- Forks: 3
- Open Issues: 0
- Releases: 0
Topics
Metadata Files
README.md
HyperState
Collection of discrete- and continuous-time motion parametrizations.
Report Issues or Request Features
About
HyperState is part of HyperSLAM and relies on low-level containers from HyperVariables. In particular, HyperState implements optimization-oriented discrete- and continuous-time state parametrizations (e.g. B-Splines etc.) for motion estimation and Simultaneous Localization Mapping pipelines. If you use this repository, please cite it as below.
@article{RAL2022Hug,
author={Hug, David and B\"anninger, Philipp and Alzugaray, Ignacio and Chli, Margarita},
journal={IEEE Robotics and Automation Letters},
title={Continuous-Time Stereo-Inertial Odometry},
year={2022},
volume={7},
number={3},
pages={6455-6462},
doi={10.1109/LRA.2022.3173705}
}
Note: Development on HyperSLAM-related repositories has been discontinued.
Installation
HyperState depends on the Eigen, Google Logging and Google Test libraries and uses features from the C++20 standard (see link to update gcc and g++ alternatives). The setup process itself (without additional compile flags) is as follows:
```
Clone repository.
git clone https://github.com/VIS4ROB-lab/HyperState.git && cd HyperState/
Run installation.
chmod +x setup.sh sudo setup.sh
Build repository.
mkdir build && cd build cmake .. make ```
Literature
- Continuous-Time Stereo-Inertial Odometry, Hug et al. (2022)
- HyperSLAM: A Generic and Modular Approach to Sensor Fusion and Simultaneous
Localization And Mapping in Continuous-Time, Hug and Chli (2020) - Efficient Derivative Computation for Cumulative B-Splines on Lie Groups, Sommer et al. (2020)
- A Micro Lie Theory for State Estimation in Robotics, Solà et al. (2018)
A Primer on the Differential Calculus of 3D Orientations, Bloesch et al. (2016)
Known Issues and Remarks
Jacobians with respect to the temporal components of spline bases are not currently supported.
The acceleration Jacobians in SU2 have a minor bug which will be addressed in the near future.
Updates
19.07.22 Initial release of HyperState.
Contact
Admin - David Hug, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland
Maintainer - Philipp Bänninger, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland
Maintainer - Ignacio Alzugaray, Leonhardstrasse 21, 8092 Zürich, ETH Zürich, Switzerland
License
HyperState is distributed under the BSD-3-Clause License.
Owner
- Name: ETHZ V4RL
- Login: VIS4ROB-lab
- Kind: organization
- Website: www.v4rl.ethz.ch
- Repositories: 35
- Profile: https://github.com/VIS4ROB-lab
Vision for Robotics Lab, ETH Zurich
Citation (CITATION.cff)
cff-version: 1.2.0
message: "If you use this repository, please cite it as below."
authors:
- family-names: "Hug"
given-names: "David"
orcid: "https://orcid.org/0000-0002-4430-3877"
- family-names: "Bänninger"
given-names: "Philipp"
orcid: "https://orcid.org/0000-0002-2295-1689"
- family-names: "Alzugaray"
given-names: "Ignacio"
orcid: "https://orcid.org/0000-0002-7121-0000"
- family-names: "Chli"
given-names: "Margarita"
orcid: "https://orcid.org/0000-0001-5611-7492"
title: "HyperSLAM"
url: "https://github.com/VIS4ROB-lab/HyperSLAM"
preferred-citation:
type: article
authors:
- family-names: "Hug"
given-names: "David"
orcid: "https://orcid.org/0000-0002-4430-3877"
- family-names: "Bänninger"
given-names: "Philipp"
orcid: "https://orcid.org/0000-0002-2295-1689"
- family-names: "Alzugaray"
given-names: "Ignacio"
orcid: "https://orcid.org/0000-0002-7121-0000"
- family-names: "Chli"
given-names: "Margarita"
orcid: "https://orcid.org/0000-0001-5611-7492"
doi: "10.1109/LRA.2022.3173705"
journal: "IEEE Robotics and Automation Letters"
month: 7
start: 6455 # First page number
end: 6462 # Last page number
title: "Continuous-Time Stereo-Inertial Odometry"
issue: 3
volume: 7
year: 2022
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- EnricoMi/publish-unit-test-result-action v2 composite
- actions/checkout v3 composite