MVIO: Monocular Visual Inertial Odometry

Overview

MVIO is a robust Monocular Visual Inertial Odometry system designed for accurate state estimation on aerial platforms. It fuses data from a single camera and an Inertial Measurement Unit (IMU) to track trajectory and pose in real-time.

Demo

Status & Compatibility

This project is stable and tested with the following library versions:

Dependency	Version
OpenCV	4.6
Eigen	3.4

Note

Ensure you have these specific versions installed for optimal stability.

Installation

Dependencies

The project provides a helper script to install all necessary dependencies (OpenCV, Eigen, etc.) for Linux (Ubuntu/Debian) and macOS.

./install_dependencies.sh

Build

Use CMake to build the project:

mkdir build && cd build
cmake ..
make -j4

Usage

After building, you can run the main executable from the project root or build directory.

./build/mvio

Configuration files are located in the configs/ directory.