# IS-VINS

**Repository Path**: lyeemax/IS-VINS

## Basic Information

- **Project Name**: IS-VINS
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-01-31
- **Last Updated**: 2021-01-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IS-VINS
## Information Sparsification for Visual Inertial Navigation System (IS-VINS)

**IS-VINS** is a sparisification-based system which extends [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono) to consistent optimization of **VO & VIO & Pose-Graph**; This system is motivated by preserving sparse and nonlinear information after marginalization and simplifying VIO scheme rather than preserving linearied prior that ordinary fixed-lag smoother shares;Thanks to sparisification,pose graph is builted upon information structure to achieve consistent optimazation;This code supports ***Linux without ROS***, it is possible to run on **Mac OS X** or **Windows** with sightly change.Please cite us if you use our code.

***Please feel free to ask me for the detail before the paper released.***

Followings are main contributions in this work:

1. Frontend is optic flow based method just like VINS-MONO but simplified.

2. VIO is performed in two stages marginalization and sparsification,which turns VIO to be a combanation of VO and VIO.

3. Pose graph optimization reuses information of VO with gravity observation and relative pose prior and performs with loop-closure information. So it's able to evaluate covariance of camera pose online. 

<img src="https://github.com/lyeemax/IS-VINS/blob/main/others/image1.png" alt="euroc_MH_05" width="480" height="360" border="10" /><br/>

***Authors：***: Jixiang Ma(unicorn@hust.edu.cn) also seeking for a job in SLAM、VIO

**Related Papers：**

**To be released soon**, Jixiang Ma, Suijun Zheng,Yong Xie. IEEE/RSJ Robotics and Automation Letters,In Press.

Installation
------------
We tested this code with ubuntu 18.04 with Ceres 2.0.0,Eigen 3.3.4,OpenCV 3.2.0 and Pangolin.
```
  $ git clone https://github.com/lyeemax/IS-VINS.git
  $ mkdir build  
  $ cd build/  
  $ cmake ..
  $ make -j 9  
```

Evaluate Euroc Dataset
------------
Download EuRoc Mav dataset and extract zips. Open a terminal with parameters of dataset path and config files:
```
  $ ./run_euroc PATH_TO_EUROC/mav0/ ../config/ 
```