An open source platform for visual-inertial navigation research.

Robocentric Visual-Inertial Odometry

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

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

A bunch of state estimation algorithms

Implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation. This is my master's thesis.

A monocular plane-aided visual-inertial odometry

using hloc for loop closure in OpenVINS

Interface for OpenVINS with the maplab project

Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.

Modified version of KumarRobotics/msckf_vio (commit e3a39a9 on Jul 26, 2019), a stereo version of MSCKF.

Example for OpenVINS running on mobile phone device.

A bare-metal implementation of visual-inertial odometry on a microcontroller. This project is associated with my master's thesis in Engineering Cybernetics at NTNU.

Multi-State Constraint Kalman Filter for Monocular Visual-Inertial Navigation.

A toy stereo visual inertial odometry (VIO) system

Visual-intertial-odometry system for UAVs

Rtabmap SLAM with realsense D4XX depth camera with ROS2 Humble

Implementation of Multi-State Constraint Kalman Filter (MSCKF)

A full-stack XR perception engine for the dimensionally challenged - MSCKF, Bundle Adjustment, Factor Graph, SLAM (in progres...)

Monocular thermal-inertial odometry: MSCKF back-end with KLT/ORB front-ends, benchmarked across four datasets.