{"id":15027880,"url":"https://github.com/mit-spark/kimera","last_synced_at":"2025-05-16T04:04:16.908Z","repository":{"id":37335918,"uuid":"208689257","full_name":"MIT-SPARK/Kimera","owner":"MIT-SPARK","description":"Index repo for Kimera code","archived":false,"fork":false,"pushed_at":"2021-01-30T22:12:14.000Z","size":62371,"stargazers_count":1916,"open_issues_count":1,"forks_count":236,"subscribers_count":61,"default_branch":"master","last_synced_at":"2025-05-16T04:04:11.473Z","etag":null,"topics":["3d-reconstruction","computer-vision","robotics","semantics","slam","visual-inertial-odometry"],"latest_commit_sha":null,"homepage":"","language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-2-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MIT-SPARK.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.BSD","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2019-09-16T02:04:14.000Z","updated_at":"2025-05-09T05:49:30.000Z","dependencies_parsed_at":"2022-07-20T12:02:23.097Z","dependency_job_id":null,"html_url":"https://github.com/MIT-SPARK/Kimera","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FKimera","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FKimera/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FKimera/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MIT-SPARK%2FKimera/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MIT-SPARK","download_url":"https://codeload.github.com/MIT-SPARK/Kimera/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":254464891,"owners_count":22075570,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d-reconstruction","computer-vision","robotics","semantics","slam","visual-inertial-odometry"],"created_at":"2024-09-24T20:07:13.380Z","updated_at":"2025-05-16T04:04:11.892Z","avatar_url":"https://github.com/MIT-SPARK.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003cdiv align=\"center\"\u003e\n  \u003ca href=\"http://mit.edu/sparklab/\"\u003e\n    \u003cimg align=\"left\" src=\"docs/media/sparklab_logo.png\" width=\"80\" alt=\"sparklab\"\u003e\n  \u003c/a\u003e\n  \u003ca href=\"https://www.mit.edu/~arosinol/\"\u003e\n    \u003cimg align=\"center\" src=\"docs/media/kimeravio_logo.png\" width=\"150\" alt=\"kimera\"\u003e\n  \u003c/a\u003e\n  \u003ca href=\"https://mit.edu\"\u003e\n    \u003cimg align=\"right\" src=\"docs/media/mit.png\" width=\"100\" alt=\"mit\"\u003e\n  \u003c/a\u003e\n\u003c/div\u003e\n\n# Kimera\n\nKimera is a C++ library for real-time metric-semantic simultaneous localization and mapping, which uses camera images and inertial data to build a semantically annotated 3D mesh of the environment. Kimera is modular, ROS-enabled, and runs on a CPU.\n\nKimera comprises four **modules**:\n- A fast and accurate Visual Inertial Odometry (VIO) pipeline ([Kimera-VIO](https://github.com/MIT-SPARK/Kimera-VIO))\n- A full SLAM implementation based on Robust Pose Graph Optimization ([Kimera-RPGO](https://github.com/MIT-SPARK/Kimera-RPGO))\n- A per-frame and multi-frame 3D mesh generator ([Kimera-Mesher](https://github.com/MIT-SPARK/Kimera-VIO))\n- And a generator of semantically annotated 3D meshes ([Kimera-Semantics](https://github.com/MIT-SPARK/Kimera-Semantics))\n\n\u003cp align=\"center\"\u003e\n    \u003ca href=\"https://www.youtube.com/watch?v=-5XxXRABXJs\"\u003e\n    \u003cimg src=\"docs/media/kimera_thumbnail.png\" alt=\"Kimera\"\u003e\n    \u003c/a\u003e\n\u003c/p\u003e\n\nClick on the following links to install Kimera's modules and get started! It is very easy to install!\n\n### [Kimera-VIO \u0026 Kimera-Mesher](https://github.com/MIT-SPARK/Kimera-VIO)\n\n\u003cdiv align=\"center\"\u003e\n    \u003ca href=\"https://github.com/MIT-SPARK/Kimera-VIO\"\u003e\n      \u003cimg src=\"docs/media/kimeravio_ROS_mesh.gif\" alt=\"Kimera-VIO\"\u003e\n   \u003c/a\u003e\n\u003c/div\u003e\n\n### [Kimera-RPGO](https://github.com/MIT-SPARK/Kimera-RPGO)\n\n\u003cdiv align=\"center\"\u003e\n  \u003ca href=\"https://github.com/MIT-SPARK/Kimera-RPGO\"\u003e\n    \u003cimg src=\"docs/media/RPGO.png\" width=\"700\" alt=\"Kimera-RPGO\"\u003e\n  \u003c/a\u003e\n\u003c/div\u003e\n\n### [Kimera-Semantics](https://github.com/MIT-SPARK/Kimera-Semantics)\n\n\u003cdiv align=\"center\"\u003e\n  \u003ca href=\"https://github.com/MIT-SPARK/Kimera-Semantics\"\u003e\n    \u003cimg src=\"docs/media/kimera_semantics.gif\" alt=\"Kimera-Semantics\"\u003e\n  \u003c/a\u003e\n\u003c/div\u003e\n\n### Chart\n\n![overall_chart](./docs/media/kimera_chart_23.jpeg)\n\n## Citation\n\nIf you found any of the above modules useful, we would really appreciate if you could cite our work:\n\n- [1] A. Rosinol, T. Sattler, M. Pollefeys, L. Carlone. [**Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities**](https://arxiv.org/abs/1903.01067). IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. [arXiv:1903.01067](https://arxiv.org/abs/1903.01067)\n\n```bibtex\n@InProceedings{Rosinol19icra-incremental,\n  title = {Incremental visual-inertial 3d mesh generation with structural regularities},\n  author = {Rosinol, Antoni and Sattler, Torsten and Pollefeys, Marc and Carlone, Luca},\n  year = {2019},\n  booktitle = {2019 International Conference on Robotics and Automation (ICRA)},\n  pdf = {https://arxiv.org/pdf/1903.01067.pdf}\n}\n```\n\n- [2] A. Rosinol, M. Abate, Y. Chang, L. Carlone, [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/abs/1910.02490). IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020. [arXiv:1910.02490](https://arxiv.org/abs/1910.02490).\n \n ```bibtex\n @InProceedings{Rosinol20icra-Kimera,\n   title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},\n   author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},\n   year = {2020},\n   booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},\n   url = {https://github.com/MIT-SPARK/Kimera},\n   pdf = {https://arxiv.org/pdf/1910.02490.pdf}\n }\n```\n\n- [3] A. Rosinol, A. Gupta, M. Abate, J. Shi, L. Carlone. [**3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans**](https://arxiv.org/abs/2002.06289). Robotics: Science and Systems (RSS), 2020. [arXiv:2002.06289](https://arxiv.org/abs/2002.06289).\n\n```bibtex\n@InProceedings{Rosinol20rss-dynamicSceneGraphs,\n  title = {{3D} Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans},\n  author = {A. Rosinol and A. Gupta and M. Abate and J. Shi and L. Carlone},\n  year = {2020},\n  booktitle = {Robotics: Science and Systems (RSS)},\n  pdf = {https://arxiv.org/pdf/2002.06289.pdf}\n}\n```\n\n- [4] A. Rosinol, A. Gupta, M. Abate, J. Shi, L. Carlone. [**Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs**](https://arxiv.org/abs/2101.06894). [arXiv:2101.06894](https://arxiv.org/abs/2101.06894).\n\n```bibtex\n@InProceedings{Rosinol21arxiv-Kimera,\n  title = {{K}imera: from {SLAM} to Spatial Perception with {3D} Dynamic Scene Graphs},\n  author = {A. Rosinol, A. Violette, M. Abate, N. Hughes, Y. Chang, J. Shi, A. Gupta, L. Carlone},\n  year = {2021},\n  booktitle = {arxiv},\n  pdf = {https://arxiv.org/pdf/2101.06894.pdf}\n}\n```\n\n## Open-Source Datasets\n\nIn addition to the [real-life tests](http://ci-sparklab.mit.edu:8080/job/MIT-SPARK-Kimera/job/master/VIO_20Euroc_20Performance_20Report/) on the [Euroc](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) dataset, we use a photo-realistic Unity-based simulator to test Kimera.\nThe simulator provides:\n- RGB Stereo camera\n- Depth camera\n- Ground-truth 2D Semantic Segmentation\n- IMU data\n- Ground-Truth Odometry\n- 2D Lidar\n- TF (ground-truth odometry of robots, and agents)\n- Static TF (ground-truth poses of static objects)\n\nUsing this simulator, we created several large visual-inertial datasets which feature scenes with and without dynamic agents (humans), as well as a large variety of environments (indoors and outdoors, small and large).\nThese are ideal to test your Metric-Semantic SLAM and/or other Spatial-AI systems!\n\n- [uHumans](http://web.mit.edu/sparklab/datasets/uHumans/) (released with [3])\n- [uHumans2](http://web.mit.edu/sparklab/datasets/uHumans2/) (released with [4])\n\n## Acknowledgments\n\nKimera is partially funded by ARL [DCIST](https://www.dcist.org/), [ONR RAIDER](https://www.onr.navy.mil/), [MIT Lincoln Laboratory](https://www.ll.mit.edu/), and\n[“la Caixa” Foundation](https://becarioslacaixa.net/en/antoni-rosinol-vidal-B004789) (ID 100010434), LCF/BQ/AA18/11680088 (A. Rosinol).\n\n## License\n\n[BSD License](LICENSE.BSD)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-spark%2Fkimera","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmit-spark%2Fkimera","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-spark%2Fkimera/lists"}