code release for vio system

[stephen9999999]

Hi, thanks for your nice work! I am very interested in your vio system. May I ask do you have any plan to release the code of the whole vio system? which contains both front-end and back-end.

[yuxuanzhou97]

Thank you very much for your attention! Sorry that we don't have plans to open-source the entire system currently. You can try integrating this front-end into your own VIO system, typically the VINS-Fusion.

[NamDinhRobotics]

Thank you so much for your great open source,
Would you share more about information the closest source code to yours? How can we do online calibration and what is the best open source to solve the problem?

[yuxuanzhou97]

Thank you so much for your great open source, Would you share more about information the closest source code to yours? How can we do online calibration and what is the best open source to solve the problem?

Sorry for missing this reply. We build the VIO system upon VINS-Fusion, in which the ground feature tracker works in parallel with the common feature tracker; Besides, we add the camera-ground geometric residuals to the system (which applies ceres-based auto-differentiation), as mentioned in the preprint.