RAFT-VINS

RAFT-VINS is based on RAFT and VINS-Mono

Evaluate in UMA-VI dataset

Evaluate in self-collected dataset

1. Dependices

TensorRT-8.4.1.5 Eigen ceres-solver

2. Build

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/xixishui1999/RAFT-VINS.git
cd ../
catkin_make -j
source ~/catkin_ws/devel/setup.bash

If you only want to test the feature tracking

git checkout raftcpp
mkdir build
cd build
cmake ..
make -j

3. Run

We recommend using the UMA-VI dataset.

roslaunch vins_estimator uma.launch
rosbag play third-floor-csc2.bag

4. Acknowledgements

Thanks for the authors of RAFT, VINS-Mono and RAFT_CPP.