A Robust and Versatile Monocular Visual-Inertial State Estimator

• UpdatedAug 14, 2024
• C++

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

• UpdatedOct 21, 2021

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些文档。

• UpdatedJan 17, 2025
• Python

Monocular Visual-Inertial State Estimator on Mobile Phones

• UpdatedMay 30, 2019
• C++

Robocentric Visual-Inertial Odometry

• UpdatedApr 23, 2023
• C++

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

• UpdatedMay 10, 2023
• C++

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

• UpdatedJan 17, 2025
• C++

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

• UpdatedSep 19, 2024
• C++

VINS-Mono中文注释

• UpdatedDec 6, 2017
• C++

• UpdatedSep 11, 2018
• C++

Modified version of VINS-Mono (commit 9e657be)

• UpdatedSep 2, 2022
• C++

A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

• UpdatedJan 3, 2024
• C++

Matlab: Optimization for Nonlinear Least Squares

• UpdatedSep 19, 2017
• MATLAB

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.

• UpdatedJul 20, 2023
• C++

OpenVINS with Moving Object Tracking

• UpdatedJul 8, 2023
• C++

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

• UpdatedMay 11, 2023
• C++

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

• UpdatedNov 6, 2023
• C++

Sensor Fusion using Extended Kalman Filter

• UpdatedJun 26, 2019
• MATLAB

A Robust and Versatile Monocular Visual-Inertial State Estimator

• UpdatedOct 16, 2024
• C++

Mainstream SLAM framework source code analysis

• UpdatedDec 11, 2019
• C++