A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

To be open sourced soon.

Loop closure was not applied in our algorithm. It is capable of online imu-cam extrinsic calibration, online timestamp error calibration and online imu instrinsic calibration, and can be automatically initialized in either static or dynamic scenerios.

RMSE on EuRoC dataset. Evaluations below are done using PetWorm/sim3_evaluate_tool.

In the newest update, online imu-cam extrinsic and timestamp error calibration in VINS-MONO are turned on to explore its extreme ability. While in this setup, the V102 sequence would somehow fail. The result of VINS-MONO in V102 below is of setup without online calibration.

Results of our algorithm are repeatible in every run of every computer I tested so far.