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[robotics-worldwide] [software] Code Release: VINS-Mobile - Monocular Visual-Inertial State Estimator on Mobile Phones

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[robotics-worldwide] [software] Code Release: VINS-Mobile - Monocular Visual-Inertial State Estimator on Mobile Phones

franker.ssj
Dear Colleagues,

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.

A video showing the software in action can be found at:
https://urldefense.proofpoint.com/v2/url?u=https-3A__youtu.be_qazzGT84Scc&d=DwIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=OcaAVUFchexagWynQJpCCCPE84j-TdS5_ruW01RCw0c&s=0cKeL-_DWXDIoSAVBuc_Fec2WAxWrNXsQcn1MxdBmE4&e= 

The code is available on GitHub:
https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_HKUST-2DAerial-2DRobotics_VINS-2DMobile&d=DwIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=OcaAVUFchexagWynQJpCCCPE84j-TdS5_ruW01RCw0c&s=t2HFX7I6jwyPg74oSKtLEWx-f8jcFLS3xz9lTKc02iU&e= 

Best Regards,

Shaojie Shen
Aerial Robotics Group
Hong Kong University of Science and Technology
https://urldefense.proofpoint.com/v2/url?u=http-3A__uav.ust.hk&d=DwIBaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=OcaAVUFchexagWynQJpCCCPE84j-TdS5_ruW01RCw0c&s=o6V8JTAK0CUChYeEH1q5IUayYvWdlpcmyiYAoyExgRU&e= 
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