HKUST-Aerial-Robotics/VINS-Mono
A Robust and Versatile Monocular Visual-Inertial 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: 3392
- days_rel: n/a
- days_push: 749
- n_releases_24m: 0
Adoption not part of the score
6011 stars · 2232 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-29, confidence not recorded
VINS-Mono is a real-time SLAM framework for monocular visual-inertial systems, using an optimization-based sliding window formulation for high-accuracy visual-inertial odometry. It includes IMU pre-integration, loop detection, global pose graph optimization, map reuse, and online calibration, and is fully integrated with ROS.
Use cases
- estimate drone state from a monocular camera and IMU
- run visual-inertial odometry in real time on a robot
- perform SLAM with loop closure and pose graph optimization
- localize an AR application with a single camera and IMU
- calibrate camera-IMU extrinsics and time offset online
- merge maps and reuse pose graphs across sessions
When to choose
- you need robust monocular VIO/SLAM for autonomous drones on Linux with ROS
- you want loop detection, map merge, and pose graph reuse in a single estimator
- you need online extrinsic and temporal calibration with rolling shutter support
When to avoid
- you need stereo or multi-camera support - use VINS-Fusion instead
- you target iOS or mobile platforms - use VINS-Mobile instead
- you need a non-ROS or Windows-native build
Facets
library · maturity maintenance
computer-vision simulation graphics robotics autonomous-vehicles computer-vision cpp slam visual-inertial-odometry vio state-estimation ros drones loop-closure pose-graph-optimization imu-preintegration augmented-reality linux
1 source
- readme: https://github.com/HKUST-Aerial-Robotics/VINS-Mono · fetched 2026-08-28 · 22b824496657
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| HKUST-Aerial-Robotics/VINS-Mono | main | 32 |
For agents
markdown · JSON · MCP: product_card(name="HKUST-Aerial-Robotics/VINS-Mono")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem