Fast-ISIO: Fast Imaging Sonar-Inertial Odometry for Underwater Robots via Geometric Linear Projection

Fast-ISIO is a fast and robust sonar inertial odometey system for underwater robots. Through the tight coupling fusion of IMU pre integration and imaging sonar, combined with GLP (geometric linear projection) and sector matching strategy, it realizes high-precision and high robustness underwater pose estimation.

---

📡 Framework Architecture

---

📦 Installation dependencies

• Ubuntu 20.04
• ROS Noetic
• C++17
• Eigen3
• PCL
• OpenCV
• GTSAM
• OpenMP
• octomap
• Armadillo
• Boost
• BLAS
• LAPACK
• If python related libraries are missing, please 'pip install' for installation

Clone repository and compile

cd ~/fast_isio_ws/src
git clone https://github.com/StarTeardrop/Fast-ISIO.git
cd ..
catkin_make
source devel/setup.bash

---

🚀 Tutorials

1. Running

roslaunch isio fast_isio_run.launch

2. play rosbag

rosbag play ....bag
TODO: Rosbag will be uploaded later

3. Parameter file path：

isio/config/param.yaml

---

🎥 Video Demo

1. Scene1

2. Scene2

📝 TODO

• Add use documents
• Upload different rosbags
• Update the latest version
• Please pay attention to the Aqua-Verse underwater simulator: https://github.com/StarTeardrop/AquaVerse.git