Basalt Headers
Documentation for Basalt Headers

This is documentation page for the reusable components of the Basalt project extracted as header-only library.

Repository URL:

This library includes:

  • Camera models.
  • Standalone image datatype with support for views, interpolation, gradients, and image pyramids.
  • Uniform B-Splines for Rd (d-dimentional vectors), SO(3) and SE(3).
  • Preintegration of inertial measurement unit (IMU) data.
  • Data types to store IMU-camera calibration.
  • Cereal serialization for basalt types as well as some Eigen and Sophus types.

Related Publications

Implemented camera models: The Double Sphere Camera Model, V. Usenko and N. Demmel and D. Cremers, In 2018 International Conference on 3D Vision (3DV), [DOI:10.1109/3DV.2018.00069], [arXiv:1807.08957].

Implemented IMU preintegration: Visual-Inertial Mapping with Non-Linear Factor Recovery, V. Usenko, N. Demmel, D. Schubert, J. St├╝ckler, D. Cremers, In In IEEE Robotics and Automation Letters (RA-L) [DOI:10.1109/LRA.2019.2961227], [arXiv:1904.06504].

B-spline trajectory representation: Efficient Derivative Computation for Cumulative B-Splines on Lie Groups, C. Sommer, V. Usenko, D. Schubert, N. Demmel, D. Cremers, In [arXiv:1911.08860].


The code is provided under a BSD 3-clause license. See the LICENSE file for details. Note also the different licenses of thirdparty submodules.