rpng / MINSLinks
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
☆573Updated 9 months ago
Alternatives and similar repositories for MINS
Users that are interested in MINS are comparing it to the libraries listed below
Sorting:
- Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light☆490Updated 11 months ago
- LIO_SAM for 6-axis IMU and GNSS.☆740Updated 2 months ago
- [CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System☆530Updated 6 months ago
- A computationally efficient and convenient toolkit of iterated Kalman filter.☆493Updated 2 years ago
- [IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)☆362Updated 4 months ago
- DynaVINS : A Visual-Inertial SLAM for Dynamic Environments☆385Updated 2 years ago
- COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping☆420Updated last year
- A wheel-mounted MEMS IMU-based dead reckoning system.☆370Updated 6 months ago
- An efficient and consistent bundle adjustment for lidar mapping☆838Updated 11 months ago
- Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)☆384Updated last month
- Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.☆551Updated 2 years ago
- A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System☆595Updated 2 years ago
- [RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry☆622Updated 2 years ago
- Target-free Extrinsic Calibration of a 3D Lidar and an IMU☆341Updated 2 years ago
- [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time t…☆793Updated last month
- [RAL 2023] A globally consistent LiDAR map optimization module☆526Updated last year
- UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes☆450Updated 6 months ago
- A 3D point cloud descriptor for place recognition☆667Updated 2 years ago
- ☆479Updated 3 months ago
- ROS compatible tool to generate Allan Deviation plots☆571Updated 6 months ago
- Fisheye version of VINS-Fusion☆329Updated last year
- GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation☆322Updated last year
- LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDAR…☆581Updated 2 years ago
- VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on …☆550Updated 2 years ago
- This repo is modified based on LIO_SAM, which remove the feature extraction module and makes it easier to adapt your sensor.☆480Updated last year
- LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping☆273Updated last year
- A probabilistic voxelmap-based LiDAR-Inertial Odometry.☆469Updated last year
- ☆391Updated 3 years ago
- RGB-L: An Extension to Integrate LiDAR Data into ORB-SLAM3☆293Updated last year
- [ICRA2021] A low-cost SLAM system based on camera and Livox lidar.☆552Updated 3 years ago