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VINS-OS is a real-time SLAM framework forOmnidirectional and/or Stereo Visual-Inertial Systems, modified fromVINS-MONO.Same asVINS-MONO, it uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry.It features efficient IMU pre-integration with bias correction, automatic estimator initialization, online extrinsic calibration, stereo extrinsic self-calibration, failure detection and recovery.Remove the loop detection and global pose graph optimization ofVINS-MONO.VINS-OS is primarily designed for state estimation and feedback control of autonomous drones equrped with a dual-fisheye omnidirectional stereo vison system. This code runs onLinux, and is fully integrated withROS.

Authors:Wenlaing GAO,Tong Qin,Peiliang Li,Zhenfei Yang, andShaojie Shen from theHUKST Aerial Robotics Group

Videos:

EuRoC dataset; Indoor and outdoor performance; AR application;

MAV application; Mobile implementation (Video link for mainland China friends:Video1Video2Video3Video4Video5)

Related Papers

• VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator, Tong Qin, Peiliang Li, Zhenfei Yang, Shaojie Shentechincal report
• Autonomous Aerial Navigation Using Monocular Visual-Inertial Fusion, Yi Lin, Fei Gao, Tong Qin, Wenliang Gao, Tianbo Liu, William Wu, Zhenfei Yang, Shaojie Shen (JFR accepted)pdf

If you use VINS-OS for your academic research, please cite at least one of our related papers.

ROS Kinetic on Ubuntu 16.04:ROS Installation.

Additional ROS pacakge requirements:cv-bridge,tf,message-filters,image-transport,opencv3

Other ROS pacakge requisites: special versioncamera_model,code_utils.

FollowCeres-Solver Installation, remember tomake install.(Our testing environment: Ubuntu 16.04, ROS Kinetic, OpenCV 3.2.0, Eigen 3.2.0)

Clone the repository and catkin_make:

    cd TO-YOUR-ROS-CATKIN-WORKSPACE    git clone git@github.com:gaowenliang/vins_os.git    cd ../    catkin_make

DO NOT start with a rolling shutter camera and unsync IMU (such as DJI M100 + Logitech web camera) at beginning.

We useceres solver for non-linear optimization andDBoW2 for loop detection, and a genericcamera model.

The source code is released underGPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Tong QINtong.qin@connect.ust.hk or Peiliang LIpliap@connect.ust.hk.

For commercial inquiries, please contact Shaojie SHENeeshaojie@ust.hk