visual-inertial-odometry

An open source platform for visual-inertial navigation research.

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

Index repo for Kimera code

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.

Robocentric Visual-Inertial Odometry

Roadmap to becoming a Visual-SLAM developer in 2021

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

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

HybVIO visual-inertial odometry and SLAM system

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

Closed-form Preintegration for Graph-based Visual-Inertial Navigation

An Authentic Dataset for Visual-Inertial Odometry

VIDO-SLAM is a Visual Inertial SLAM system for dynamic environments, and it can also estimate dynamic objects motion and track objects.

This repository intends to enable autonomous drone delivery with the Intel Aero RTF drone and PX4 autopilot. The code can be executed both on the real drone or simulated on a PC using Gazebo. Its core is a robot operating system (ROS) node, which communicates with the PX4 autopilot through mavros. It uses SVO 2.0 for visual odometry, WhyCon for visual marker localization and Ewok for trajectoy planning with collision avoidance.

Commented: Modified version of VINS-Mono (commit 9e657be on Jan 9, 2019)

[RA-L/IROS22] Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration

Visual Inertial Odometry (VIO) / Simultaneous Localization & Mapping (SLAM) using iSAM2 framework from the GTSAM library.

Visual-Inertial-Semantic-MApping Dataset and tools

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

This project aims to hardware-synchronize camera and IMU so that both use the same (millisecond precise) time base.

A project of Visual Inertial Odometry for Autonomous Vehicle

"Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.

visual-inertial odometry (VINS-Mono) with motion-aware feature selection

Deep Learning for Visual-Inertial Odometry

The FusionPortable-VSLAM Challenge 2022

iOS utility to save ARKit results (Visual-Inertial Odometry) to a series of text files for offline use.

Android app to save ARCore results (Visual-Inertial Odometry) to a series of text files for offline use.

Final project for EECE-5698 Robot sensing and navgation.

Code for "Efficient Deep Visual and Inertial Odometry with Adaptive Visual Modality Selection", ECCV 2022

VO and VIO pipelines for pose estimation with a quad-rotor