VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

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.

open source code:

VINS-Mobile: Monocular Visual-Inertial State Estimator on Mobile Phones

VINS-Mobile is a real-time monocular visual-inertial state estimator on compatible iOS devices and provides localization services for augmented reality (AR) applications. It is also tested for state estimation and feedback control for autonomous drones.VINS-Mobile uses sliding window optimization-based formulation for providing high-accuracy visual-inertial odometry with automatic initialization and failure recovery. The accumulated odometry errors are corrected in real-time using global pose graph SLAM. An AR demonstration is provided to showcase its capability.

open source code: