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MSCKF_VIO_MONO

Monocular MSCKF_VIO，这是KumarRobotics/msckf_vio双目msckf_vio的单目版本，在视觉前端加入了直方图均衡化，除此之外只把双目模型改成了单目模型。 对于算法的视觉前段，还可以把fast特征改成ORB、SIFT等特征，可以提高定位精度，改善稳定性，大家可以尝试； 对于融合部分我也做了一些算法修改和优化，但是这部分更改没有上传。 还给出了msckf1.0.doc算法文档，给出了msckf_vio算法的详细推导过程和一些分析，可以与代码相对对照着理解。 希望这些代码和算法文档对大家有用，觉得有可取之处的话麻烦给个星^_^ 文档难免有什么疏漏，还请各位同行批评指正，请联系[email protected]

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