3DMAGNSS/VINS-IO FGO

Prerequisites

This package is tested in Ubuntu 18.04 under ROS Kinetic environment. It requires C++11, OpenCV , Eigen 3.3.3 , Pangolin and Ceres 1.12.0.

Build 3DMAGNSS/VINS-IO FGO on Linux

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/queenie-ho/3DMAGNSSVINS-IOFGO.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

Run 3DMAGNSS/VINS-IO FGO with our dataset

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch

Acknowledgements

The system framework of VIO part are adapted from VINS-Mono. We use Ceres to do the optimization.

Related Publications

Ho, H. Y., Ng, H. F., Leung, Y. T., Wen, W., Hsu, L. T., & Luo, Y. (2023). Smartphone Level Indoor/outdoor Ubiquitous Pedestrian Positioning 3DMA Gnss/vins Integration Using Fgo. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, 175-182.
Qin, T., Li, P., & Shen, S. (2018). Vins-mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions on Robotics, 34(4), 1004-1020.