We are pleased to announce the open-source release of OKVIS: Open Keyframe-based Visual Inertial SLAM under the terms of the BSD 3-clause license. OKVIS tracks the motion of an assembly of an Inertial Measurement Unit (IMU) plus N cameras (tested: mono, stereo and four-camera setup) and reconstructs the scene sparsely. This is the Author’s implementation of the  and  with more results in . There is currently no loop-closure detection / optimisation included, but we are working on it.
Copyright (c) 2016, Autonomous Systems Lab / ETH Zurich
Software authors and contributors: Stefan Leutenegger, Andreas Forster, Paul Furgale, Pascal Gohl, and Simon Lynen
To obtain the ROS-Version, follow the instructions here:
This is ready to be used with a Skybotix VI-Sensor or to process ROS bags.
We also provide a non-ROS version to use as a generic CMake library, which includes some minimal examples to process datasets:
 Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual–inertial odometry using nonlinear optimization. The International Journal of Robotics Research, 2015.
 Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.
 Stefan Leutenegger, Paul Timothy Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige, Roland Siegwart. Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization. In Proceedings of Robotics: Science and Systems, 2013.