rgbd_odometry

Simple-Rgbd-Odometry is is a lightweight and efficient RGB-D odometry pipeline designed for real-time applications. This is designed to run way above 30fps on a single thread.

Install

git clone https://github.com/PRBonn/Simple-RGBD-Odometry.git
cd Simple-RGBD-Odometry
make install

Running the system

Next, follow the instructions on how to run the system by typing:

rgbd_odom_pipeline --help

Citation

If you use this library for any academic work, please cite our original paper.

@article{nagulavancha2025ecmr,
  author    = {Nagulavancha Sumanth and Desai Dhagash and Gupta Saurabh and Lobefaro Luca and Stachniss Cyrill and Vizzo Ignacio and Guadagnino Tiziano},
  title     = {{Revisiting Fast and Accurate RGB-D Odometry for Real-World Use by Embracing Simplicity}},
  journal   = {European Conference on Mobile Robots},
  year      = {2025},
  codeurl   = {https://github.com/PRBonn/Simple-RGBD-Odometry},
}

Acknowledgements

This project was inspired by and reuses modules from KISS-ICP, thanks to all the authors and contributors on this amazing project

Note

The rosbag dataloader is still under development