A Robust and Versatile Monocular Visual-Inertial State Estimator

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

我的导航算法学习笔记，主要是写给初学者，已经有基础的同学应该多看论文和代码，看我的笔记学不到啥；内容涵盖导航定位开源程序的源码解读（包括 RTKLIB、GAMP、PSINS、KF-GINS 等）、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；所有内容都可以随意转载，原始文件都放在这里了，大家可以在我的基础上整理出自己的一些文档、组会的 PPT。

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

Matlab: Optimization for Nonlinear Least Squares

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.

Sensor Fusion using Extended Kalman Filter

A Robust and Versatile Monocular Visual-Inertial State Estimator

Mainstream SLAM framework source code analysis