Visual-Inertial-Odometry

MSCKF (Mult-State Constraint Extended Kalman Filter)

Introduction:

An implementation and improvement of the MSCKF algorithm for Visual Inertial Odometry for pose estimation of a mobile platform (such as a robot). Read the paper at: http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf

Technical Details:

• The current approach taken in the paper lacks an important statistical inconsistency.
• This inconsistency is discussed in detail in the report, which can be furnished on request.
• Source code can be found in the SourceCode section.
• Please read my paper for more details on this at: https://drive.google.com/file/d/1-74SceO-TyT5X8ZBAJuMfoVjEMNUMSc6/view?usp=sharing

Please let me know in the issues, if you come across problems.