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1. VIO_Stereo_MSCKF VIO_Stereo_MSCKF Public

   A state vio estimator for robots using ESKF

   C++ 20 7

2. VIO_Mono_VINS VIO_Mono_VINS Public

   A simple vio-mono with two backend solver (scba and rootba).

   C++ 15 8

3. Graph_Optimizor Graph_Optimizor Public

   A general graph optimizor using tbb to speed up.

   C++ 9 1

4. Feature_Tracker Feature_Tracker Public

   A simple optical flow feature tracker, direct method tracker and descriptor matcher.

   C++ 9 2

5. Square_Root_Solver Square_Root_Solver Public

   A square root VO/VIO solver using tbb to speed up.

   C++ 6 2

6. VIO_Stereo_BASALT VIO_Stereo_BASALT Public

   A simple visual-inertial odometry reconstructed from basalt-vio.

   C++ 6 1