# PL-VINS

**Repository Path**: stancy_sun/pl-vins

## Basic Information

- **Project Name**: PL-VINS
- **Description**: 修改自：https://github.com/cnqiangfu/PL-VINS.git
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-31
- **Last Updated**: 2022-01-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: VIO

## README

# PL-VINS

#### 介绍
修改自：https://github.com/cnqiangfu/PL-VINS.git

![](./support_files/pl_vins.png)

#### 软件架构

![](./support_files/rosgraph.png)

#### 安装教程

catkin_make即可

以EUROC数据集为例：

`roslaunch plvins_estimator euroc_fix_extrinsic.launch`

`rosbag play V1_02_medium.bag`