VINS-AR

Monocular Visual-Inertial State Estimation for Mobile Augmented Reality

(Please checkout to our new repo: https://github.com/HKUST-Aerial-Robotics/VINS-Mobile)

VINS-AR is a real-time visual-inertial-based augmentged reality system. This code implements an initilization-free monocular sliding window based visual-inertial-loop odometry, which is running on IOS devices in real time.

1. Drift elimination and robustness test screenshots:

2 Real-time indoor and outdoor AR demonstration: