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