[Submitted on 30 Oct 2026]
Abstract:Visual-inertial odometry (VIO) is a fundamental topic in robotics research. Beyond research, VIO has been adopted in a wide range of products. In this manuscript, we present OpenVIO, an open-source VIO system for research and practical applications. It is released under the MIT license. OpenVIO supports pinhole and fisheye cameras and extends this support to stitched 360° images. We describe each part of the system together with its design considerations. We also report benchmark results with other open-source VIO systems on public datasets. OpenVIO is available as open source at this https URL.
Submission history
From: Seungwon Choi [view email]
[v1] Fri, 30 Oct 2026 12:40:10 UTC (1,730 KB)
