HKUST-Aerial-Robotics/VINS-Fusion
An optimization-based multi-sensor state estimator 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: 2792
- days_rel: n/a
- days_push: 832
- n_releases_24m: 0
Adoption not part of the score
4684 stars · 1621 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-29, confidence not recorded
VINS-Fusion is an optimization-based multi-sensor state estimator for accurate self-localization in autonomous applications such as drones, cars, and AR/VR. It extends VINS-Mono to support mono camera + IMU, stereo cameras + IMU, stereo-only setups, and GPS fusion, with online spatial/temporal calibration and visual loop closure.
Use cases
- estimate drone pose from camera and IMU data
- run visual-inertial odometry on stereo camera feeds
- fuse GPS with visual-inertial localization
- perform visual loop closure detection for SLAM
- calibrate camera-IMU extrinsics and time offset online
- benchmark odometry on the KITTI dataset
- localize an autonomous car without GPS
When to choose
- you need a proven, well-cited visual-inertial odometry/SLAM estimator in C++ with ROS support
- you want flexible sensor configurations including stereo-only or GPS fusion
- you need online camera-IMU spatial and temporal calibration
- you are doing academic research on aerial robotics or autonomous driving localization
When to avoid
- you need a maintained project with frequent updates and modern ROS 2 support
- you want a plug-and-play solution without building against ROS and Ceres Solver
- your platform is not Linux/ROS-based
- you need licensing more permissive than GPL-3.0
Facets
library · maturity maintenance
computer-vision simulation robotics robotics autonomous-vehicles computer-vision cpp visual-inertial-odometry slam sensor-fusion state-estimation ros gps-fusion loop-closure drones algorithms linux
1 source
- readme: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion · fetched 2026-08-28 · c6b042d1e384
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| HKUST-Aerial-Robotics/VINS-Fusion | main | 32 |
For agents
markdown · JSON · MCP: product_card(name="HKUST-Aerial-Robotics/VINS-Fusion")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem