One camera and one low-cost inertial measurement unit (IMU) form a monocular visual-
inertial system (VINS), which is the minimum sensor suite (in size, weight, and power) for the …

In this paper, we present an open platform, termed OpenVINS, for visual-inertial estimation
research for both the academic community and practitioners from industry. The open …

In this paper, we propose a robust on-the-fly estimator initialization algorithm to provide high-
quality initial states for monocular visual-inertial systems (VINS). Due to the non-linearity of …

The monocular visual-inertial system (VINS), which consists one camera and one low-cost
inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state …

There have been increasing demands for developing microaerial vehicles with vision-based
autonomy for search and rescue missions in complex environments. In particular, the …

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state
estimation via nonlinear optimization. However, real-time optimization quickly becomes …

We present DM-VIO, a monocular visual-inertial odometry system based on two novel
techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO …

In recent years there have been excellent results in visual-inertial odometry techniques,
which aim to compute the incremental motion of the sensor with high accuracy and …

To address the problem of estimating camera trajectory and to build a structural three-
dimensional (3D) map based on inertial measurements and visual observations, this paper …

Flying robots require a combination of accuracy and low latency in their state estimation in
order to achieve stable and robust flight. However, due to the power and payload constraints …