vins

A Robust and Versatile Monocular Visual-Inertial State Estimator

Track Advancement of SLAM 跟踪SLAM前沿动态【2021 version】業務調整，暫停更新

Monocular Visual-Inertial State Estimator on Mobile Phones

Robocentric Visual-Inertial Odometry

A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System

[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

VINS-Mono中文注释

Modified version of VINS-Mono (commit 9e657be)

A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

Matlab: Optimization for Nonlinear Least Squares

A Super Tightly Coupled Visual-Inertial State Estimator

This is the code repository of our paper Point Cloud Change Detection With Stereo V-SLAM:Dataset, Metrics and Baseline. Based on VINS-Fusion, we localize UAV with prior point cloud, and detect changes with point cloud generated using stereo camera.

OpenVINS with Moving Object Tracking

a VINS algorithm with a combination of stereo fisheye images, cubemap, line features, dense mapping and loop closure

VINS has been completely reconstructed and rewritten using C++ object-oriented, and supports stereo or stereo+ IMU.

Sensor Fusion using Extended Kalman Filter

[ICCAS 2021] Simulation for the paper "An Adaptive Approach based on Multi-State Constraint Kalman Filter for UAVs"

A Long-Tracked-Feature Linked Optimized Window for Visual-Inertial Odometry