TurtleZhong/msckf_mono

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Created about 7 years ago
Updated over 5 years ago

TurtleZhong/msckf_mono

TurtleZhong

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VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0

说明

一步步深入了解MSCKF网址: www.xinliang-zhong.vip/msckf_notes/

这本来是很早以前自己写的一个mono版的msckf. 主要懒得开一个新分支了,就借用了一下.下面对文件夹下的东西说明一下:

msckf_vio.jpg S-MSCKF高清图

Quaternion kinematics for the error-state Kalman filter.pdf 一本自己推导注释过的书

src/msckf_mine_* 都是很早以前原来自己写的,忽略就好

src/msckf_vio_note 这个是开源版本S-MSCKF的注释版本代码,原版在这里

如有问题直接在这个repo下的issues下面提问就好了. 或者私聊[email protected]

如果觉得有用的话记得给个小星星

Map-based-Visual-Localization

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

AVP-SLAM-SIM

A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813

LVIO-SAM

A Multi-sensor Fusion Odometry via Smoothing and Mapping.

camera_lidar_calibration_v2

ROS VERSION: A tool used for calibrate 2D laser range finder (LRF) and camera.version1：https://github.com/TurtleZhong/camera_lidar_calibration

camera_lidar_calibration

A tool used for calibrate the extrinsic between 2D laser range finder (LRF) and camera. ROS Version: https://github.com/TurtleZhong/camera_lidar_calibration_v2

PoseGraph-Ceres

An offline tool for pose-graph-optimization.

Visual-Inertial-Synchronization-Hardware

This project aims to hardware-synchronize camera and IMU so that both use the same (millisecond precise) time base.

hfnet_ros

A cpp or ROS Warpper of HF-NET inference part (https://github.com/ethz-asl/hfnet)

ESKF-All-in-One-Open

Error State Kalman Filter All in One, from Theory to Practice.

avp-bev-open

A pkg stiching around view images(4-6cameras) to generate bird's eye view.

Projects-Summary

本人完成的项目汇总

vins_notes

vins-mono初始化部分详细教程

Gazebo-models-generator

A tool using to generate Gazebo models from 3D models.(Sketchup files, *.dae, *.obj, *.stl, etc.)

ORB_SLAM2_error_analysis

ORB_SLAM2_error_analysis

Particle_Filter_Demo

A demo for particle filter.

msckf_notes

ros_projects

Some ros projects

SLAM_Learning

projects after 2017

paper_reading_in_DM

some papers reading in DeepMotion

leetcode

leetcode exercises

Super-Bible

Super Bible of SLAM

CarND-Motion-Prediction-Control-Project

Udacity_SelfDrivingCar_2SensorFusion_Project2_ParticalFilter