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An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
SfM, MVS, visual-inertial SLAM, 3D Gaussian Splatting and map-based localization in Rust
Smooth inertial scrolling with any regular mouse.
Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator
🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)
INS-Centric Visual-Inertial Navigation System With LiDAR Enhancement
📖[IEEE Sensors Journal (JSEN) ] SuperVINS: A Real-Time Visual-Inertial SLAM Framework for Challenging Imaging Conditions (integrated deep learning features)
【RA-L 2026】 A Robust and Efficient LiDAR-Inertial Odometry System with a Compact Mapping Strategy.
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling
360 Visual-Inertial Benchmark with Floor Plan Priors for SLAM and Localization
Visual-Inertial Odometry using 360 Camera
Autonomous UAV navigation in GNSS-denied indoor spaces with no prior map: stereo VIO (MSCKF) and lidar-inertial odometry with map-based relocalization (SLAM), 3D occupancy mapping, D* Lite path planning and GPU MPPI obstacle avoidance. PX4 + ROS 2 + Gazebo SITL, DARPA SubT Urban.
Open Source Inertial Navigation Library