ubuntu安装的eigen源码库，可以直接解压，然后网上很多教程，可以搜索，这个版本是3.3.7，并不是最高版本，因为ceres1.14安装只能用eigen3.3.3-eigen3.3.7版本之间

vins+wheel.tar.gz

崔老师的VINS论文及代码解析，里面详细对vins算法的实现进行了讲解，以及对应论文的讲解，对应代码的讲解

VINS论文推导以及代码解析，IMU预积分推导过程以及与视觉信息的融合校准过程，代码解析，有助于理解vins的论文

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全篇公式推导及代码对应，可以帮助很好地理解vins全过程，结合代码可以深刻理解论文的逻辑，并在引导下修改代码。

VINS-Mono代码注释以及公式推导

For the VINS mobile of the slam , I just push up to csdn to backup

主流VIO技术综述及VINS解析_崔华坤等、ICE-BA论文分析及GBA代码解析、ROVIO论文推导及代码解析_V5_byHK20181018、VINS论文推导及代码解析_可公开_崔华坤_190221_V12