[robotics-worldwide] [software] Code Release: VINS-Mobile - Monocular Visual-Inertial State Estimator on Mobile Phones
We are happy to announce the open source release of VINS-Mobile: Monocular
Visual-Inertial State Estimator on Mobile Phones.
VINS-Mobile is a real-time monocular visual-inertial state estimator
developed by members of the HKUST Aerial Robotics Group. It runs on
compatible iOS devices, and provides localization services for augmented
reality (AR) applications. It is also tested for state estimation and
feedback control for autonomous drones. VINS-Mobile uses sliding window
optimization-based formulation for providing high-accuracy visual-inertial
odometry with automatic initialization and failure recovery. The
accumulated odometry errors are corrected in real-time using global pose
graph SLAM. An AR demonstration is provided to showcase its capability.