# HKUST-Aerial-Robotics/VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

Repository: https://github.com/HKUST-Aerial-Robotics/VINS-Mobile
Canonical: https://ross.abutalabs.com/products/vins-mobile
Language: C++
License: GPL-3.0
License Family: copyleft
Topics: state-estimation, vio, vins
Last push: 2019-05-30T05:13:08+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 3406, "days_push": 2652, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1363, forks 530 (observed 2026-08-28T04:04:30.438094+00:00)

## What it is
VINS-Mobile is a real-time monocular visual-inertial state estimator that runs on iOS devices, providing high-accuracy visual-inertial odometry via sliding window optimization with loop closure and failure recovery. It supplies localization for augmented reality applications and state estimation for autonomous drone control.

## Use cases
- estimate camera pose on an iPhone for AR applications
- run visual-inertial odometry on a mobile phone in real time
- provide localization for autonomous drone flight control
- perform monocular SLAM with loop closure on mobile hardware
- build AR demos that need 30 Hz pose tracking
- research visual-inertial state estimation algorithms

## When to choose
- you need on-device VIO on iOS without cloud services
- you want a research-grade estimator with automatic initialization and failure recovery
- you need pose graph SLAM loop closure to correct odometry drift in real time
- you are working with drones or AR and have C++/Xcode expertise

## When to avoid
- you need a maintained project with recent updates (last release 2019)
- you target Android or Linux rather than iOS/macOS
- you want a plug-and-play AR SDK rather than a research codebase
- your project cannot accept GPL-3.0 licensing

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, graphics
- domain: robotics, autonomous-vehicles, computer-vision, mobile-development
- platform: cpp
- tags: visual-inertial-odometry, slam, state-estimation, augmented-reality, drones, vio, ios, macos

## Member repositories
- HKUST-Aerial-Robotics/VINS-Mobile (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:30.438094+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:41:23.390526+00:00, confidence not recorded.
  - readme: https://github.com/HKUST-Aerial-Robotics/VINS-Mobile (fetched 2026-08-28T04:04:30.438094+00:00, sha 3a21a606122f)
- Data as of 2026-08-30T08:39:29.467469+00:00.