visual-inertial-odometry

An open source platform for visual-inertial navigation research.

Index repo for Kimera code

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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

Roadmap to become a Visual-SLAM developer in 2026

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

Robocentric Visual-Inertial Odometry

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

HybVIO visual-inertial odometry and SLAM system

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

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

An Authentic Dataset for Visual-Inertial Odometry

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

A monocular plane-aided visual-inertial odometry

FLVIS: Feedback Loop Based Visual Inertial SLAM

VIDO-SLAM is a Visual Inertial SLAM system for dynamic environments, and it can also estimate dynamic objects motion and track objects.

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 …

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.

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

Deep Learning for Visual-Inertial Odometry