VINS-GPS
此项目可作为一个VINS教学版，里面加入了大量本人对VINS的一些理解注释。除此之外，本项目将在VINS的基础上新增Visual+IMU+GPS耦合的多传感器融合demo，与VINS其他demo一样，本项目也运行在ROS上。
1.预装项
1.1 系统
在Ubuntu18.04 LTS中测试，预计Ubuntu16.04 LTS中也能正常运行(Ubuntu20 兼容性暂时未知)。
安装对应的ROS版本( Ubuntu16.04 LTS对应ROS Kinetic；Ubuntu18.04 LTS对应ROS Melodic )，ROS 安装教程。
1.2 Ceres安装
2. 编译项目
cd ~/catkin_ws/src
git clone
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Test
3.1 Test with KITTI
- KITTI Stereo
下载KITTI Odometry dataset ，以sequences 00为例
- kitti stereo+gps
# 终端1
roscore
# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch
# 终端3
source catkin_ws/devel/setup.bash
rosrun vins kitti_gps_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_raw/kitti_10_03_config.yaml /home/sqg/dataset/kitti/2011_10_03_drive_0027_sync
# 终端4
source catkin_ws/devel/setup.bash
rosrun global_fusion global_fusion_node- kitti stereo
# 终端1
roscore
# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch
# 终端３
source catkin_ws/devel/setup.bash
rosrun vins kitti_odom_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_odom/kitti_config00-02.yaml /home/sqg/dataset/kitti/00
# 终端４ (可选)
source catkin_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node /home/sqg/catkin_ws/src/vins-gps/config/kitti_odom/kitti_config00-02.yaml - kitti stereo+IMU
# 终端1
roscore
# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch
# 终端3
source catkin_ws/devel/setup.bash
rosrun vins kitti_vins_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_raw/kitti_10_03_config_imu.yaml /home/sqg/dataset/kitti/2011_10_03_drive_0027_sync
# 终端4
source catkin_ws/devel/setup.bash
rosrun global_fusion global_fusion_node- euroc mono+IMU
# 终端1
roscore
# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch
# 终端3
source catkin_ws/devel/setup.bash
rosrun vins vins_node /home/sqg/catkin_ws/src/vins-gps/config/euroc/euroc_mono_imu_config.yaml
# 终端4（可选）
source catkin_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node /home/sqg/catkin_ws/src/vins-gps/config/euroc/euroc_mono_imu_config.yaml
# 终端5
source catkin_ws/devel/setup.bash
rosbag play ~/dataset/euroc/MH_01_easy.bag-
euroc stereo+IMU
-
euroc stereo
- KITTTI Stereo+GPS+IMU
3.2 Test with your own dataset
下一步工作，污染GPS数据，做鲁棒估计
本人在校研究内容：
感谢香港科技大学Aerial Robotics Group 秦通等人的VINS开源项目
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