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VINS-FUSION
Multi-sensor visual-inertial odometry for robots and drones
GPL-3.0
ABOUT
Robots and UAVs need metric pose indoors and outdoors without mocap. VINS-Fusion is an optimization-based VIO stack that fuses cameras, IMU, and GPS so teams estimate pose on ROS without writing a custom estimator.
INTEGRATION GUIDE
1. Run stereo-inertial odometry on a UAV or ground robot in ROS
2. Fuse GPS with visual-inertial estimates for outdoor localization
3. Calibrate camera-IMU extrinsics and run VINS on recorded bags
4. Compare mono, stereo, and IMU configurations on the same estimator
TAGS
c++roboticsslamvioimudronesroslocalization