Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

Code available: - Kimera-VIO & Kimera-Mesher: - Kimera-RPGO: - Kimera-Semantics: Abstract— We provide an open-source C library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS- Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic