A Robust and Versatile Monocular Visual-Inertial State Estimator

An open source platform for visual-inertial navigation research.

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Roadmap to become a Visual-SLAM developer in 2023

Monocular Visual-Inertial State Estimator on Mobile Phones

我的导航学习笔记，内容涵盖导航定位开源程序的源码解读 ( 包括：RTKLIB、GAMP、GINav、Ginan、PSINS、SoftGNSS、KF-GINS、GICI-Lib 等)、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；本仓库会长期更新，分享出来，既是跟大家做个交流，也激励着自己坚持学下去；所有内容都可以随意转载，原始文件都放在这了，欢迎在我的基础上整理出自己的一套笔记。

主流VIO论文推导及代码解析

X Inertial-aided Visual Odometry

Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

Robocentric Visual-Inertial Odometry

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

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards

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

ROS wrapper for Kimera-VIO

VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0

Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors

A bunch of state estimation algorithms

Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)

Optimized ORBSLAM3 to run on TUM/EuRoc/KITTI dataset

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