Yet another visual inertial estimator(YAVIE).
This is a hands on project for fun. I learned a lot and got a lot of fun while creating it. Hope you'll enjoy it as I do.
See folder sfm. This folder contains a monocular visual odometry module which can run with only image infomation.
See folder yavie. We don't use sliding window(schur complement) to limit the computation. Instead the double window optimization(see ORB-SLAM for details) is used here. There maybe many bugs in this code. The way we utilize imu information is borrowed shamelessly from VINS-MONO. Currently loop closing is not contained in the repo.
Initialization success. See pictures/init.png.
Tracking. See pictures/tracking.png, pictures/tracking2.png.
Blue boxes are trajectories of cameras. Purple points are map points while the green are currently observed points.