GVINS
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HKUST-Aerial-Robotics
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
Dear authors: Could you please tell me how to calculate the doppler factor Jacobian with respect to the position state? I do not understand the codes that are marked by...
Hi @shaozu Thanks for your awesome work. Right now, I was trying to migrate from VINS-Mono to VINS-Fusion framework in order to get stereo VIO support, and I encountered a...
The GVINS paper and code are very clear and helpful. I have a small question about the code. When reading 'gnss_psr_dopp_factor.cpp', I cannot find code segment that corresponds to the...
@shaojie Hello, Your work is pretty impressed, it works perfect on pc. Next step I'd like to run your algorithm on android, however, it seems hard to get same data...
Hi, I have collected a dataset where the "/ublox_driver/range_meas" publish at 1 Hz, from your published dataset I see that the same topic publishes at 10 Hz. The visual-inertial system...
 这两个因子会引入para_rcv_dt+k和para_rcv_ddt到last_marginalization_info中，但是没有对last_marginalization_info中的这两个参数边缘化 
Hi, thanks for your great work and sorry for disturbing you several times. I just try to understand details in code. In the *optimization* function, all the observations are put...
Hi! I am interested in testing the simulator that you mention in your [paper](https://arxiv.org/abs/2103.07899), it it possible to get access to this?
Hello everyone, I am getting compiler errors when Ceres functions are getting called. I suppose this is due to a version conflict. The README states that version 1.12.0 is used....
Hello i wonder how can you get the dopp_std data based on the VI-SENSOR I have read the Novatel protocols file and find it don't contain the dopp_std data. 
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Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.