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rpng / MINS

An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
GNU General Public License v3.0
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Sensor usage consultation #10

Closed WuZihao12 closed 10 months ago

WuZihao12 commented 10 months ago

Does this project support multi-camera mode like MIMC-VINS ?

WoosikLee2510 commented 10 months ago

Yes, it does. You can add as many cameras as you want (for example, it can run ladybug camera) and also can do full online calibration of each camera including time offset, extrinsic, and intrinsic. The only computational increase due to having more cameras would be feature extraction and update (if you do more updates with a larger number of features). MINS also can freely choose stereo camera pairs or multiple mono cameras. Check camera options for more detailed availabilities. Note, that MINS does not support multi-IMU, though can be easily added.

WuZihao12 commented 10 months ago

Yes, it does. You can add as many cameras as you want (for example, it can run ladybug camera) and also can do full online calibration of each camera including time offset, extrinsic, and intrinsic. The only computational increase due to having more cameras would be feature extraction and update (if you do more updates with a larger number of features). MINS also can freely choose stereo camera pairs or multiple mono cameras. Check camera options for more detailed availabilities. Note, that MINS does not support multi-IMU, though can be easily added.

This project is equivalent to also using on-manifold state interpolation technique to achieve asynchronous between multiple cameras?

WoosikLee2510 commented 10 months ago

Yes, it is. It uses the same interpolation technique of MIMC-VINS to handle multiple cameras which is the reason why it can handle multiple cameras without increasing the state size (meaning without having clones to each camera measurement times) gaining computational efficiency.

WuZihao12 commented 10 months ago

Thanks for your reply, thank you !