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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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Can MINS work on a drone? #8

Closed mzahana closed 10 months ago

mzahana commented 10 months ago

Hi!

I read the paper of MINS, and I see the experiments were done with ground vehicles. I would assume it is usable on a drone, but I wanted to confirm this from a practical point of view. Would there be specific assumptions for MINS to be used one e.g., a multi-rotor UAV?

Thanks.

WoosikLee2510 commented 10 months ago

Hi, MINS can be used on most existing platforms including grounded vehicles and drones. For example, you can run visual-inertial, visual-gps-inertial, visual-lidar-inertial, or lidar-gps-inertial using MINS on drone. There is no specific assumptions for drone.

The paper used a grounded vehicle dataset because MINS can also fuse wheel measurement.

WoosikLee2510 commented 10 months ago

If you are specifically looking into fusing multiple rotors with other sensors, e.g., VIO, then you can also look into our prior work

WoosikLee2510 commented 10 months ago

Please open this issue again or add a comment if you have any further questions about MINS.