程序员在家做饭方法指南。Programmer's guide about how to cook at home (Simplified Chinese only).

主流VIO论文推导及代码解析

Arduino implementation of the MadgwickAHRS algorithm

IMU and encoder fusion by EKF

[ICRA 2025 Best Paper] MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry

Open Keyframe-based Visual-Inertial SLAM (Version 2)

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

Lidar Localization and Mapping

[RA-L 2022] Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras

从小白的视角去分析多源融合SLAM的SOTA框架

Semi-direct Visual Odometry

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Generate imu data and feature in camera frame. You can use this data to test your VINS.

Toolbox for quantitative trajectory evaluation of VO/VIO

A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots (ROBIO2023)

A dataset containing synchronized visual, inertial and GNSS raw measurements.

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)

Extension and update of M2DGR: a novel Multi-modal and Multi-scenario SLAM Dataset for Ground Robots (ICRA2022 & ICRA2024)

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

Fisheye version of VINS-Fusion

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

2-Line Exhaustive Searching for Real-Time Vanishing Point Estimation in Manhattan World