UVIO: UWB-Aided Visual-Inertial Odometry Framework

This is the code of the academic paper An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization, a multi-sensor framework that leverages Ultra Wideband (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. The whole project is built on top of OpenVINS and enhances it with UWB capabilities.

Usage

To use UVIO, you can refer to the OpenVINS documentation for everything except the UWB-related features. It requires UWB range measurements to be available to the system (for the paper we used these sensors) and additional configuration files that are located inside /config/iros_2023_uvio folder.

The framework requires the position of UWB anchors to operate. You have two options for providing this information:

1. UWB Anchors Config File (uwb_anchors.yaml): you can specify the positions of UWB anchors in the global reference frame in the uwb_anchors.yaml configuration file. This is a straightforward way to configure anchor positions.

2. Initialization as explained in the academic paper: alternatively, you can initialize unknown UWB anchors with the following initialization library.

Credit / Licensing

The UVIO module as an extension of OpenVins code was written by the Control of Networked System (CNS) at the University of Klagenfurt (Austria). If you use this software in an academic research setting, please cite the corresponding academic paper.

@inproceedings{Delama2023,
   author       = {Delama, Giulio and Shamsfakhr, Farhad and Weiss, Stephan and Fontanelli, Daniele and Fornasier, Alessandro},
   booktitle    = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
   title        = {UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization},
   year         = {2023},
  organization  = {IEEE}
}

The codebase and documentation is licensed under the GNU General Public License v3 (GPL-3). You must preserve the copyright and license notices in your derivative work and make available the complete source code with modifications under the same license (see this; this is not legal advice).

Reporting Issues

In case of issues, feature requests, or other questions please open a New Issue or contact the authors via email.

Authors

• Giulio Delama (email)
• Alessandro Fornasier (email)