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.
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.
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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