| schema_version: "1.0" | |
| module: | |
| name: freya | |
| version: 0.1.0 | |
| display_name: "FREYA — Gaussian-LIC2 LiDAR-Inertial-Camera SLAM" | |
| description: > | |
| Tightly-coupled LiDAR + Inertial + Camera Gaussian Splatting SLAM with | |
| continuous-time trajectory optimization, zero-shot depth completion, and | |
| real-time photo-realistic 3D reconstruction. | |
| category: slam.sensor_fusion | |
| license: Apache-2.0 | |
| paper: "https://hf.co/papers/2507.04004" | |
| capabilities: | |
| provides: | |
| - type: slam | |
| subtype: gaussian_splatting | |
| - type: odometry | |
| subtype: lidar_inertial_camera | |
| interface: | |
| inputs: | |
| - name: left_image | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: right_image | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: imu_data | |
| ros2_type: sensor_msgs/msg/Imu | |
| - name: pointcloud | |
| ros2_type: sensor_msgs/msg/PointCloud2 | |
| outputs: | |
| - name: odometry | |
| ros2_type: nav_msgs/msg/Odometry | |
| - name: rendered_view | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: pose | |
| ros2_type: geometry_msgs/msg/PoseStamped | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: freya-slam | |
| backend: onnxruntime_cuda | |
| fps: 30 | |
| latency_p50_ms: 33 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 100 | |
| health_topic: /anima/freya/health | |
| composability: | |
| pairs_well_with: [] | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-freya:0.1.0 | |
| port: 8080 | |