{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/kimera-an-open-source-library-for-real-time","title":"Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping","arxiv_id":"1910.02490","date":"2019-10-06","proceeding":null,"authors":["Antoni Rosinol","Marcus Abate","Yun Chang","Luca Carlone"],"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 labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial odometry (VIO) module for fast and accurate state estimation, a robust pose graph optimizer for global trajectory estimation, a lightweight 3D mesher module for fast mesh reconstruction, and a dense 3D metric-semantic reconstruction module. The modules can be run in isolation or in combination, hence Kimera can easily fall back to a state-of-the-art VIO or a full SLAM system. Kimera runs in real-time on a CPU and produces a 3D metric-semantic mesh from semantically labeled images, which can be obtained by modern deep learning methods. We hope that the flexibility, computational efficiency, robustness, and accuracy afforded by Kimera will build a solid basis for future metric-semantic SLAM and perception research, and will allow researchers across multiple areas (e.g., VIO, SLAM, 3D reconstruction, segmentation) to benchmark and prototype their own efforts without having to start from scratch.","url_abs":"https://arxiv.org/abs/1910.02490v3","url_pdf":"https://arxiv.org/pdf/1910.02490v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":{"status":"unanswered"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/AndrewGavril/Kimera-VIO-RaspberryPi","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/JonasFrey96/Kimera-Semantics","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-Evaluation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-RPGO","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-Semantics","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-VIO","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"unanswered"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-VIO-Evaluation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/MIT-SPARK/Kimera-VIO-ROS","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/ToniRV/Kimera-VIO-Evaluation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/nsinghal7/Kimera-VIO-NetVLAD","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"kimera-an-open-source-library-for-real-time","repo_url":"https://github.com/nsinghal7/Kimera-VIO-ROS-NetVLAD","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}}],"tasks":[{"task_slug":"3d-reconstruction","task_name":"3D Reconstruction"},{"task_slug":null,"task_name":"CPU"},{"task_slug":"computational-efficiency","task_name":"Computational Efficiency"},{"task_slug":"semantic-slam","task_name":"Semantic SLAM"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"},{"task_slug":"state-estimation","task_name":"State Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1910.02490","atlas_url":"https://app.syntology.ai/?focus=1910.02490","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1910.02490"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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