This project tries to implement paper:
Monocular Visual Inertial Odometry on a Mobile Device
Consistency of EKF-based Visual-Inertial Odometry
-2015-4-11-
I finished whole framework, which is a simplified version of shelley14msc. Now I am going to write several ROS package to process image and do simulation.
Gonna folk dvorak0's sensor_processor and data_generator
-2015-4-15-
add ROS packages
- msckf_vins. core package, move all MyTriangulation code here, and wrap ROS interface to receive sensor data
- sensor_processor. Read IMU and process image
- data_generator. a simulated environment that can generate IMU and image
-2015-4-29-
To start the program
roscore
rosrun data_generator data_generator_node
rosrun msckf_vins msckf_vins_node