Equations Derivation of VINS-Mono
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The VINS-Mono is a monocular visual-inertial 6 DOF state estimator proposed by Aerial Robotics Group at HKUST in 2017, which can be performed on MAVs, smartphones and many other intelligent platforms. It is a state-of-the-art visual-inertial odometry algorithms which has gained extensive attention worldwide. The main equations including IMU preintegration, visual/inertial co-initialization and tightly-coupled nonlinear optimization are derived and analyzed in this manuscript.
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