/My_VINS

Based on VINS-mono, implement a small VINS system, especially for the test of optimization.

Primary LanguageC++

My VINS project

Build Status

Project： The work of this project based on the paper of VINS-Mono (https://github.com/HKUST-Aerial-Robotics/VINS-Mono). But we don't use ROS, Ceres, G2o. I implement the back end with Eigen, use the LM algorithmus，sliding window algorithmus，robust kernel function and so on. It can used in Ubuntu.

Installation：

  1. pangolin: https://github.com/stevenlovegrove/Pangolin

  2. opencv

  3. Eigen

  4. Ceres: the initialization of the system use ceres to optimise the sfm，so we also need to installe ceres.

Build

mkdir build 
cd build
cmake ..
make -j4

Process

1. CurveFitting Example to Verify Our Solver.

cd bin
./testCurveFitting

2. VINs-Mono on Euroc Dataset

cd bin
./run_euroc /home/dataset/EuRoC/MH-05/mav0/ ../config/

vins

3. VINs-Mono on Simulation Dataset (project homework)

you can use this code to generate vio data.

https://github.com/chengKID/VIO_Data_Simulation_ROS.git

4. Validation Results

evo package

evo_ape euroc euroc_mh05_groundtruth.csv pose_output.txt -a -p

results

Licence

The source code is released under GPLv3 license.