HKUST-Aerial-Robotics/GVINS
Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment. observed · 2026-08-28
Health v2 · maintenance only
32/100
- Activity 0
- Release rhythm 35
- Longevity 100
Flags: no_releases
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-02. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 1987
- days_rel: n/a
- days_push: 1817
- n_releases_24m: 0
Adoption not part of the score
1155 stars · 274 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
GVINS is a C++/ROS nonlinear optimization system that tightly fuses GNSS raw measurements (pseudorange and Doppler) with visual and inertial data for real-time, drift-free 6-DoF global localization. It extends VINS-Mono with multi-constellation GNSS support and works even in GNSS-denied areas.
Use cases
- fuse GNSS with camera and IMU for global localization
- drift-free 6-DoF state estimation for drones
- localize robots in GNSS-denied environments
- multi-constellation GNSS-visual-inertial odometry
- smooth and globally consistent SLAM in complex environments
- estimate poses in ECEF frame from raw GNSS measurements
When to choose
- you need globally consistent localization combining GNSS raw data with VIO
- you work with ROS and have raw GNSS receiver measurements (e.g., u-blox F9P)
- you need localization that survives GNSS-denied areas
- you want multi-constellation GNSS support (GPS, GLONASS, Galileo, BeiDou)
When to avoid
- you only need GPS coordinates without visual-inertial fusion
- you need a maintained project with recent releases
- you cannot use ROS or Linux
- you need a permissive license (GPL-3.0)
Facets
library · maturity maintenance
robotics simulation nlp robotics autonomous-vehicles cpp slam gnss sensor-fusion visual-inertial-odometry state-estimation localization ros ceres-solver algorithms linux
1 source
- readme: https://github.com/HKUST-Aerial-Robotics/GVINS · fetched 2026-08-28 · 5fd2d57c63b0
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| HKUST-Aerial-Robotics/GVINS | main | 32 |
For agents
markdown · JSON · MCP: product_card(name="HKUST-Aerial-Robotics/GVINS")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem