A Robust and Versatile Monocular Visual-Inertial State Estimator

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

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.

A Robust and Versatile Monocular Visual-Inertial State Estimator

Mainstream SLAM framework source code analysis

A ROI-mask Feature Tracker for Monocular Visual-Inertial System

Outdoor UAV Projects at RRC-IIIT Hyderabad

Information Sparsification on VINS (IS-VINS)

AR project based on "Monocular Visual-Inertial State Estimator on Mobile Phones"