Formula Derivation and Analysis of the VINS-Mono

Yibin Wu

Formula Derivation and Analysis of the VINS-Mono

Robotics 2020-09-22 v2 Computer Vision and Pattern Recognition

Authors: Yibin Wu

Abstract

The VINS-Mono is a monocular visual-inertial 6 DOF state estimator proposed by Aerial Robotics Group of HKUST in 2017. It can be performed on MAVs, smartphones and many other intelligent platforms. Because of the excellent robustness, accuracy and scalability, it has gained extensive attention worldwide. In this manuscript, the main equations including IMU pre-integration, visual-inertial co-initialization and tightly-coupled nonlinear optimization are derived and analyzed.

Keywords

vins-mono monocular visual-inertial odometry imu pre-integration visual-inertial co-initialization tightly-coupled nonlinear optimization 6 dof state estimator

Cite

@article{arxiv.1912.11986,
  title  = {Formula Derivation and Analysis of the VINS-Mono},
  author = {Yibin Wu},
  journal= {arXiv preprint arXiv:1912.11986},
  year   = {2020}
}

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