VINS_Mono AR demo所需bag

VINS-Mono 论文公式推导与代码解析 高洪臣.pdf

VINS-Mono-A Robust and Versatile MonocularVisual-Inertial State Estimator.pdf

VINS-Mono is a real-time SLAM framework for Monocular Visual-Inertial Systems. It uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry. It features efficient IMU pre-integration with bias correction, automatic estimator initialization, online extrinsic calibration, failure detection and recovery, loop detection, and global pose graph optimization. VINS-Mono is primarily designed for state estimation and feedback control of autonomous drones, but it is also capable of providing accurate localization for AR applications. This code runs on Linux, and is fully integrated with ROS. For iOS mobile implementation, please go to VINS-Mobile.

VINS-Mono代码注释以及公式推导