msckf 开源项目推荐（27 个）

rpng /open_vins

An open source platform for visual-inertial navigation research.

rpng /R-VIO

以机器人为中心的视觉惯性里程计

PetWorm /LARVIO

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

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

ydsf16 /TinyGrapeKit

A bunch of state estimation algorithms

tomas789 /tonav

Implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation. This is my master's thesis.

rpng /ov_plane

A monocular plane-aided visual-inertial odometry

formiat /px4-ros2-drone-nav

Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.

Li-Jesse-Jiaze /ov_hloc

using hloc for loop closure in OpenVINS

rpng /ov_maplab

Interface for OpenVINS with the maplab project

rpng /ov_secondary

Secondary posegraph adapted for interfacing with OpenVINS, based on VINS-Mono / VINS-Fusion.

cggos /msckf_cg

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

goldbattle /open_vins_mobile

Example for OpenVINS running on mobile phone device.

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.

ValerioSpagnoli /Monocular-Visual-Inertial-MSCKF

Multi-State Constraint Kalman Filter for Monocular Visual-Inertial Navigation.

BUBLET /uav-airvision

Visual-intertial-odometry system for UAVs

Strroke21 /V-SLAM-with-RTABMAP-and-Realsense-D4XX

Rtabmap SLAM with realsense D4XX depth camera with ROS2 Humble

sr-bang /Stereo_Visual_Inertial_Odometry

Implementation of Multi-State Constraint Kalman Filter (MSCKF)

Mehmetmrtgl /OpenVINS-Wheel-MCC

ROS 2 integration of wheel odometry into OpenVINS for robust VIO in GPS-denied environments.

brenocq /flatland-xr

A full-stack XR perception engine for the dimensionally challenged - MSCKF, Bundle Adjustment, Factor Graph, SLAM (in progres...)