A Robust and Versatile Monocular Visual-Inertial State Estimator

An open source platform for visual-inertial navigation research.

我的导航算法学习笔记，内容涵盖导航定位开源程序的源码解读、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；所有内容都可以随意转载，原始文件都放在这里了，大家可以在我的基础上整理出自己的一些文档。（Tips：①主要是写给初学者，已经有基础的同学应该多看论文和代码，看我的笔记学不到啥；②仓库持续更新中，不建议 fork）

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

Roadmap to become a Visual-SLAM developer in 2026

Monocular Visual-Inertial State Estimator on Mobile Phones

主流VIO论文推导及代码解析

Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

Robocentric Visual-Inertial Odometry

X Inertial-aided Visual Odometry

A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System

[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards

OpenXRLab Visual-inertial SLAM Toolbox and Benchmark

ROS wrapper for Kimera-VIO

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

Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors

📚这个仓库是在arxiv上收集的有关VLN，VLA，World Model，SLAM，Gaussian Splatting,非线性优化等相关论文。每天都会自动更新！issue区域是最新10篇论文

A bunch of state estimation algorithms

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