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1. LARVIO LARVIO Public

   A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

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2. IMU-Preintegration-Propogation-Doc IMU-Preintegration-Propogation-Doc Public

   中文文档：IMU预积分总结与公式推导

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3. IMU_error_state_propagation_doc IMU_error_state_propagation_doc Public

   采用Hamilton四元数的低成本IMU误差方程详细推导

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4. sim3_evaluate_tool sim3_evaluate_tool Public

   A matlab tool to evaluate trajectory RMSE using sim3 alignment.

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5. msckf_vio_zhushi msckf_vio_zhushi Public

   msckf_vio注释

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6. kitti_to_rosbag_for_vio kitti_to_rosbag_for_vio Public

   a modified version based on ethz-asl/kitti_to_rosbag to record image and imu data for running VIOs

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