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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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Project Consulting #9

Closed WuZihao12 closed 10 months ago

WuZihao12 commented 10 months ago

Thank you for your great work. What I want to ask is what is the relationship between this project and MIMC-VINS？

WoosikLee2510 commented 10 months ago

MIMC-VINS first proposed a novel on-manifold state interpolation technique. MINS adapts the technique and also addresses the error caused by interpolation which improves the system consistency. Additionally, MINS proposed a dynamic cloning technique based on the investigation that allows large computational efficiency without losing much accuracy. You can check more details in the paper section 4

WuZihao12 commented 10 months ago

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