An open source platform for visual-inertial navigation research.

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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

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

Robocentric Visual-Inertial Odometry

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

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

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

A monocular plane-aided visual-inertial odometry

FLVIS: Feedback Loop Based Visual Inertial SLAM

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

A project of Visual Inertial Odometry for Autonomous Vehicle

Modified version of VINS-Mono (commit 9e657be)

A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

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

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