Open-Sourced VINS Codebases
  • rpng / OpenVINS - Link
  • rpng / R-VIO - Link
  • ethz-asl / okvis - Link
  • ethz-asl / maplab - Link
  • TUM / basalt - Link
  • HKUST-Aerial-Robotics / VINS-Fusion - Link
  • HKUST-Aerial-Robotics / VINS-Mono - Link
  • MIT-SPARK / Kimera-VIO - Link
  • ucla-vision / xivo - Link
  • KumarRobotics / msckf_vio - Link
Continuous-Time Trajectory Estimation
  • Unified temporal and spatial calibration for multi-sensor systems - Link
  • Spline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras. - Link
  • Continuous-time visual-inertial odometry for event cameras - Link
  • Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps. - Link
  • Alternating-stereo VINS: Observability analysis and performance evaluation - Link
  • Multi-camera visual-inertial navigation with online intrinsic and extrinsic calibration - Link
  • Decoupled Representation of the Error and Trajectory Estimates for Efficient Pose Estimation - Link
Machine Learning Uncertainty
  • Uncertainty in Deep Learning - Link
  • Geometry and uncertainty in deep learning for computer vision - Link
  • Modelling uncertainty in deep learning for camera relocalization - Link
  • Dropout as a bayesian approximation: Representing model uncertainty in deep learning - Link
  • What uncertainties do we need in bayesian deep learning for computer vision? - Link
  • Multi-task learning using uncertainty to weigh losses for scene geometry and semantics - Link
Resource Constrained Extended Kalman Filtering
  • A provably consistent method for imposing sparsity in feature-based SLAM information filters - Link
  • Optimization-based estimator design for vision-aided inertial navigation - Link
  • Vision-aided inertial navigation for resource-constrained systems - Link
  • Power-SLAM: a linear-complexity, anytime algorithm for SLAM - Link
  • A resource-aware vision-aided inertial navigation system for wearable and portable computers - Link
  • An iterative kalman smoother for robust 3D localization and mapping - Link
  • Inverse Schmidt Estimators - Link
  • Consistent map-based 3D localization on mobile devices - Link
  • RISE-SLAM: A Resource-aware Inverse Schmidt Estimator for SLAM - Link
Event-based Cameras
  • Real-Time 3D Reconstruction and 6-DoF Tracking with an Event Camera - Link
  • Continuous-Time Trajectory Estimation for Event-based Vision Sensors - Link
  • Continuous-Time Visual-Inertial Trajectory Estimation with Event Cameras - Link
  • EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real-time - Link
  • Event-based Visual Inertial Odometry - Link
Rolling Shutter Cameras
  • Vision-aided inertial navigation with rolling-shutter cameras - Link
  • Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps - Link
  • Real-time Motion Tracking on a Cellphone using Inertial Sensing and a Rolling-Shutter Camera - Link
  • 3-D Motion Estimation and Online Temporal Calibration for Camera-IMU Systems - Link
  • High-fidelity Sensor Modeling and Self-Calibration in Vision-aided Inertial Navigation - Link
Visual-inertial navigation systems (VINS)
  • A Robust and Modular Multi-Sensor Fusion Approach Applied to MAV Navigation - Link
  • Determining the Time Delay Between Inertial and Visual Sensor Measurements - Link
  • A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation - Link
  • Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing - Link
ORB-SLAM
  • ORB: an efficient alternative to SIFT or SURF - Link
  • Bags of Binary Words for Fast Place Recognition in Image Sequences - Link
  • ORB-SLAM: Tracking and Mapping Recognizable Features - Link
  • ORB-SLAM: a Versatile and Accurate Monocular SLAM System - Link
  • Parallel Tracking and Mapping for Small AR Workspaces - Link