Code for VINS-Mono is now available on GitHub

VINS-Mono is a real-time SLAM framework for Monocular Visual-Inertial Systems. It uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry. It features efficient IMU pre-integration with bias correction, automatic estimator initialization, online extrinsic calibration, failure detection and recovery, loop detection, and global pose graph optimization. VINS-Mono is primarily designed for state estimation and feedback control of autonomous drones, but it is also capable of providing accurate localization for AR applications. This code runs on Linux, and is fully integrated with ROS. For iOS mobile implementation, please go to VINS-Mobile.

Authors: Tong Qin, Peiliang Li, Zhenfei Yang, and Shaojie Shen

Code: https://github.com/HKUST-Aerial-Robotics/VINS-Mono

EuRoC dataset

HKUST Aerial Robotics Group

Welcome to the HKUST Aerial Robotics Group led by Prof. Shaojie Shen. Our group is part of the HKUST Robotics Institute.

We develop fundamental technologies to enable aerial robots (or UAVs, drones, etc.) to autonomously operate in complex environments. Our research spans the full stack of aerial robotic systems, with focus on state estimation, mapping, trajectory planning, multi-robot coordination, and testbed development using low-cost sensing and computation components.

Video Highlights


Find more here:

News

A conference paper is accepted by 3DV 2018

July 21st, 2018

A survey paper is accepted by TRO

July 20th, 2018

A conference paper is accepted by ECCV 2018

July 3rd, 2018

Seven conference papers are accepted by IROS 2018

June 29th, 2018

A conference paper is accepted by ISER 2018

June 28th, 2018

Prof Shen will be an associate editor of AURO

June 1st, 2018

A journal paper is accepted by TRO

May 19th, 2018

A conference paper is accepted by ETRA 2018

April 26th, 2018

Prof Shen is invited by VALSE 2018

April 19th, 2018

A conference paper is accepted by IJCAI-ECAI 2018

April 17th, 2018

Two conference papers are accepted by ICUAS 2018

April 17th, 2018

Four conference papers are accepted by ICRA 2018

January 12th, 2018

A conference paper is accepted by SSRR 2017

August 28th, 2017

A conference paper is accepted by ISMAR 2017

July 10th, 2017

A journal paper is accepted by RA-L

July 6th, 2017

Nine conference papers are accepted by IROS 2017

June 15th, 2017

A journal paper is accepted by AURO

June 1st, 2017

A journal paper is accepted by JFR

May 27th, 2017

Code for VINS-Mono is now available on GitHub

May 23rd, 2017

A conference paper is accepted by ICIP 2017

May 10th, 2017

Code for VINS-Mobile is now available on GitHub

May 8th, 2017

Two conference papers are accepted by ICUAS 2017

April 24th, 2017

Our group's research focuses presented on Aero Day 2017

April 24th, 2017

Jing Chen's paper enters the final list of Best Service Robotics Paper Award, ICRA 2017

April 6th, 2017

Prof Shen is the Program Co-chair of SAC IRMAS 2017

April 3rd, 2017

More news