rpng/open_vins

An open source platform for visual-inertial navigation research.

Language: C++ - Size: 163 MB - Last synced at: 11 days ago - Pushed at: 4 months ago - Stars: 2,345 - Forks: 687

MIT-SPARK/Kimera

Index repo for Kimera code

Size: 59.5 MB - Last synced at: 21 days ago - Pushed at: about 4 years ago - Stars: 1,892 - Forks: 235

KumarRobotics/msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

Language: C++ - Size: 43 KB - Last synced at: 7 days ago - Pushed at: over 1 year ago - Stars: 1,804 - Forks: 607

MIT-SPARK/Kimera-VIO

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

Language: C++ - Size: 180 MB - Last synced at: 10 days ago - Pushed at: about 2 months ago - Stars: 1,660 - Forks: 435

changh95/visual-slam-roadmap

Roadmap to become a Visual-SLAM developer in 2023

Size: 22.9 MB - Last synced at: 10 days ago - Pushed at: about 1 year ago - Stars: 1,484 - Forks: 146

cggos/imu_x_fusion

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

Language: C++ - Size: 2.36 MB - Last synced at: 8 days ago - Pushed at: 25 days ago - Stars: 972 - Forks: 169

rpng/R-VIO

Robocentric Visual-Inertial Odometry

Language: C++ - Size: 71.6 MB - Last synced at: 18 days ago - Pushed at: almost 2 years ago - Stars: 789 - Forks: 175

PetWorm/LARVIO

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

Language: C++ - Size: 6.58 MB - Last synced at: 21 days ago - Pushed at: about 1 year ago - Stars: 754 - Forks: 160

SpectacularAI/HybVIO

HybVIO visual-inertial odometry and SLAM system

Language: C++ - Size: 301 KB - Last synced at: over 1 year ago - Pushed at: almost 3 years ago - Stars: 384 - Forks: 86

TurtleZhong/msckf_mono

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

Language: C++ - Size: 23.1 MB - Last synced at: over 1 year ago - Pushed at: about 6 years ago - Stars: 297 - Forks: 72

rpng/R-VIO2

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

Language: C++ - Size: 7.7 MB - Last synced at: 15 days ago - Pushed at: 7 months ago - Stars: 258 - Forks: 30

rpng/cpi

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

Language: C++ - Size: 554 MB - Last synced at: 19 days ago - Pushed at: almost 6 years ago - Stars: 250 - Forks: 62

AaltoVision/ADVIO

An Authentic Dataset for Visual-Inertial Odometry

Language: Python - Size: 1.26 MB - Last synced at: 21 days ago - Pushed at: almost 6 years ago - Stars: 245 - Forks: 43

rpng/ov_plane

A monocular plane-aided visual-inertial odometry

Language: C++ - Size: 8.2 MB - Last synced at: 12 days ago - Pushed at: 11 months ago - Stars: 214 - Forks: 27

HKPolyU-UAV/FLVIS

FLVIS: Feedback Loop Based Visual Inertial SLAM

Language: C++ - Size: 82.6 MB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 198 - Forks: 42

szebedy/autonomous-drone

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.

Language: C++ - Size: 860 KB - Last synced at: over 1 year ago - Pushed at: almost 6 years ago - Stars: 144 - Forks: 67

ISAE-PNX/SaDVIO

Sparsify and Densify Visual Inertial Odometry

Language: C++ - Size: 19.1 MB - Last synced at: 11 days ago - Pushed at: 11 days ago - Stars: 126 - Forks: 6

cggos/vins_mono_cg

Modified version of VINS-Mono (commit 9e657be)

Language: C++ - Size: 924 KB - Last synced at: 20 days ago - Pushed at: over 2 years ago - Stars: 115 - Forks: 46

ElliotHYLee/Deep_Visual_Inertial_Odometry

Deep Learning for Visual-Inertial Odometry

Language: Python - Size: 648 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 74 - Forks: 11

qdLMF/VINS-Fusion-GPU-BA

A CUDA reimplementation of Bundle Adjustment for VINS-Fusion

Language: C++ - Size: 82.8 MB - Last synced at: 8 months ago - Pushed at: over 1 year ago - Stars: 72 - Forks: 6

url-kaist/kaistviodataset

"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.

Language: Shell - Size: 11.9 MB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 70 - Forks: 6

JokerJohn/PRCV-VSLAM-Challenge-2022

PRCV 2022: The FusionPortable-VSLAM Challenge

Language: Python - Size: 29.8 MB - Last synced at: almost 2 years ago - Pushed at: over 2 years ago - Stars: 68 - Forks: 1

ganlumomo/VisualInertialOdometry

A project of Visual Inertial Odometry for Autonomous Vehicle

Language: C++ - Size: 171 KB - Last synced at: about 2 years ago - Pushed at: over 5 years ago - Stars: 65 - Forks: 22

plusk01/Anticipated-VINS-Mono Fork of HKUST-Aerial-Robotics/VINS-Mono

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

Language: C++ - Size: 90.3 MB - Last synced at: about 1 year ago - Pushed at: over 6 years ago - Stars: 63 - Forks: 5

feixh/VISMA

Visual-Inertial-Semantic-MApping Dataset and tools

Language: C++ - Size: 55.9 MB - Last synced at: over 1 year ago - Pushed at: almost 6 years ago - Stars: 62 - Forks: 15

cggos/msckf_cg

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

Language: C++ - Size: 2.78 MB - Last synced at: 18 days ago - Pushed at: over 1 year ago - Stars: 59 - Forks: 15

TurtleZhong/Visual-Inertial-Synchronization-Hardware

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

Language: C++ - Size: 1.95 MB - Last synced at: about 2 years ago - Pushed at: almost 7 years ago - Stars: 56 - Forks: 17

mingyuyng/Visual-Selective-VIO

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

Language: Python - Size: 34 MB - Last synced at: about 2 years ago - Pushed at: over 2 years ago - Stars: 54 - Forks: 5

tii-racing/drone-racing-dataset

A fully-annotated, open-design dataset of autonomous and piloted high-speed flight

Language: Python - Size: 2.22 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 51 - Forks: 11

PyojinKim/ARKit-Data-Logger

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

Language: Swift - Size: 3.9 MB - Last synced at: over 1 year ago - Pushed at: over 3 years ago - Stars: 51 - Forks: 14

ntnu-arl/reaqrovio

An underwater visual inertial odometry with online refractive index estimation method based on ROVIO to enable reliable state estimation without camera calibration in water.

Language: C++ - Size: 24.7 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 35 - Forks: 2

PyojinKim/ARCore-Data-Logger

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

Language: Java - Size: 1.74 MB - Last synced at: over 1 year ago - Pushed at: over 5 years ago - Stars: 34 - Forks: 8

ujasmandavia/Visual-SLAM-and-Visual-Inertial-Odometry-using-Lidar-and-Monocular-camera-

Final project for EECE-5698 Robot sensing and navgation.

Language: C++ - Size: 56.7 MB - Last synced at: 7 months ago - Pushed at: almost 7 years ago - Stars: 27 - Forks: 5

jagennath-hari/CUDA-Accelerated-Visual-Inertial-Odometry-Fusion

Harness the power of GPU acceleration for fusing visual odometry and IMU data with an advanced Unscented Kalman Filter (UKF) implementation. Developed in C++ and utilizing CUDA, cuBLAS, and cuSOLVER, this system offers unparalleled real-time performance in state and covariance estimation for robotics and autonomous system applications.

Language: Cuda - Size: 211 KB - Last synced at: 11 days ago - Pushed at: about 1 year ago - Stars: 25 - Forks: 2

simengangstad/TinyVIO

A bare-metal implementation of visual-inertial odometry on a microcontroller. This project is associated with my master's thesis in Engineering Cybernetics at NTNU.

Language: C - Size: 22.3 MB - Last synced at: 8 months ago - Pushed at: 8 months ago - Stars: 22 - Forks: 2

ntnu-arl/underwater-datasets

Underwater Dataset for Visual-Inertial Methods and data with transitioning between multiple refractive media.

Language: JavaScript - Size: 235 MB - Last synced at: 11 months ago - Pushed at: 11 months ago - Stars: 19 - Forks: 1

MikeS96/vio_quadrotor

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

Language: Jupyter Notebook - Size: 2.35 GB - Last synced at: about 2 years ago - Pushed at: almost 5 years ago - Stars: 13 - Forks: 9

pekkaran/violet

A toy stereo visual inertial odometry (VIO) system

Language: Rust - Size: 328 KB - Last synced at: 3 months ago - Pushed at: almost 2 years ago - Stars: 10 - Forks: 3

cggos/okvis_cg

Modified version of okvis-1.1.3, include okvis ros wrapper and the core code

Language: C++ - Size: 2.26 MB - Last synced at: 13 days ago - Pushed at: over 2 years ago - Stars: 10 - Forks: 3

gajena/roc_the_saviour 📦

Autonomous Aerial Robot for Object Picking and Dropping with Versatile Grippper

Language: C++ - Size: 19.1 MB - Last synced at: over 1 year ago - Pushed at: almost 3 years ago - Stars: 6 - Forks: 0

chansoopark98/Deep-Visual-SLAM

Deep based Visual SLAM Project(Depth estimation, Optical flow, Visual inertial odometry)

Language: C++ - Size: 55.7 MB - Last synced at: 13 days ago - Pushed at: 13 days ago - Stars: 5 - Forks: 1

3DOM-FBK/Collaborative_Navigation

Collaborative Navigation Dataset

Size: 2.49 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 5 - Forks: 1

iis-esslingen/rover_benchmark

The ROVER Visual SLAM Benchmark

Language: Shell - Size: 1.36 MB - Last synced at: 4 months ago - Pushed at: 4 months ago - Stars: 4 - Forks: 0

Jianxff/svo_pro_universal

Plain cmake version for rpg_svo_pro_open (svo2.0). No ros.

Language: C++ - Size: 22.1 MB - Last synced at: 12 months ago - Pushed at: about 1 year ago - Stars: 2 - Forks: 0

gjcliff/ORB_SLAM3_ROS2

Implementing ORB_SLAM3 in ROS2 humble

Language: C++ - Size: 160 MB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 1 - Forks: 1

Jianxff/rd_vio

robust visual-inertial odometry, separated from openxrlab-xrslam

Language: C++ - Size: 226 KB - Last synced at: 12 months ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 1

mgagvani/apriltag-localization-frc

OAK-D + SLAM + AprilTags for localization in FRC

Language: Python - Size: 213 KB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 0

kyomangold/ETH-VisionAlgorithmsMobileRobotics

Repository for the "Vision Algorithms for Mobile Robotics" (VAMR) lecture at the "Robotics and Perception Group" at UZH (for ETH Zurich).

Language: C++ - Size: 250 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 1 - Forks: 0

kvmanohar22/ins_init

Initialization procedure for Inertial Navigation System (INS)

Language: C++ - Size: 1.6 MB - Last synced at: almost 2 years ago - Pushed at: over 4 years ago - Stars: 1 - Forks: 0

LongruiDong/Learn-ORB-VIO-Stereo-Mono Fork of ZuoJiaxing/Learn-ORB-VIO-Stereo-Mono

Stereo and Mono VIO, Visual Inertial, ORB-SLAM2

Language: C++ - Size: 71.7 MB - Last synced at: about 2 years ago - Pushed at: over 5 years ago - Stars: 1 - Forks: 1

ymorsi7/Visual-Intertial-SLAM

Visual-Inertial SLAM with EKF and feature detection for robot mapping and localization.

Language: Jupyter Notebook - Size: 12 MB - Last synced at: 28 days ago - Pushed at: 29 days ago - Stars: 0 - Forks: 0

JonathanSpraggett/ROB498

UofT Engsci robotics capstone course ROB498.

Language: Python - Size: 19.5 MB - Last synced at: 19 days ago - Pushed at: about 1 month ago - Stars: 0 - Forks: 0

shounaknaik/Visual-Inertial-Odometry-EKF

Implementation for EKF for Visual Inertial Odometry

Language: Python - Size: 552 KB - Last synced at: 7 months ago - Pushed at: 7 months ago - Stars: 0 - Forks: 0

ALFONSOBUGRA/ROS-Scripts-for-VO-VIO

Some Scripts for VO-VIO with ROS algorithms. All scripts tested with ROS Noetic and Ubuntu 20.04.

Language: Python - Size: 30.3 KB - Last synced at: 10 months ago - Pushed at: 10 months ago - Stars: 0 - Forks: 0

ababayi/master-of-science-project

Design and development of a visual inertial odometry system with moving target tracking approach for autonomous robots

Language: Python - Size: 3.91 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

StarLab317/VIO-Framework-for-Copter

This project provides a feasible framework for the stereo camera positioning and autonomous flight of the Z410B UAV

Size: 560 KB - Last synced at: almost 2 years ago - Pushed at: almost 2 years ago - Stars: 0 - Forks: 0

ksheersaagr/Crap_SLAM

Implementation of Simultaneous Localization And Mapping(SLAM) with Visual Odometry.

Language: Python - Size: 140 MB - Last synced at: 8 months ago - Pushed at: about 5 years ago - Stars: 0 - Forks: 0

LongruiDong/LearnVIORB Fork of jingpang/LearnVIORB

Language: C++ - Size: 71.1 MB - Last synced at: about 2 years ago - Pushed at: over 5 years ago - Stars: 0 - Forks: 0

gdedi001/Pool-Time

:ocean: Adding items to augmented reality pool

Language: ShaderLab - Size: 5.02 MB - Last synced at: about 2 years ago - Pushed at: about 7 years ago - Stars: 0 - Forks: 0