{"adoption": {"forks": 2232, "observed_at": "2026-08-28T04:09:34.237946+00:00", "stars": 6011}, "canonical_url": "https://ross.abutalabs.com/products/vins-mono", "card": {"archived": false, "artifact_type": "library", "description": "A Robust and Versatile Monocular Visual-Inertial State Estimator", "domain": ["robotics", "autonomous-vehicles", "computer-vision"], "enriched": true, "function": ["computer-vision", "simulation", "graphics"], "health_score": 20, "homepage": null, "language": "C++", "license": "GPL-3.0", "license_family": "copyleft", "maturity": "maintenance", "member_repos": ["HKUST-Aerial-Robotics/VINS-Mono"], "name": "HKUST-Aerial-Robotics/VINS-Mono", "platform": ["cpp"], "pushed_at": "2024-08-14T17:28:14+00:00", "repo": "HKUST-Aerial-Robotics/VINS-Mono", "stars": 6011, "tags": ["slam", "visual-inertial-odometry", "vio", "state-estimation", "ros", "drones", "loop-closure", "pose-graph-optimization", "imu-preintegration", "augmented-reality", "linux"], "topics": ["state-estimation", "vio", "vins"], "urls": [], "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"], "what_it_is": "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.", "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"], "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"]}, "data_as_of": "2026-08-30T08:39:29.467469+00:00", "members": [{"path": "/products/vins-mono", "repo": "HKUST-Aerial-Robotics/VINS-Mono", "role": "main", "score": 32}], "provenance": {"archived": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "artifact_type": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "description": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "domain": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "enriched": {"inputs": [], "kind": "computed", "method": "enrichment_status"}, "function": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "health_score": {"inputs": ["days_since_push", "days_since_release", "archived"], "kind": "computed", "method": "health_v1"}, "homepage": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "language": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "license": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "license_family": {"inputs": ["license"], "kind": "computed", "method": "license_family"}, "maturity": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "member_repos": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "name": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "platform": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "pushed_at": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "repo": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "stars": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "tags": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "topics": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "urls": {"kind": "observed", "observed_at": "2026-08-28T04:09:34.237946+00:00", "source": "github"}, "use_cases": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "what_it_is": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "when_to_avoid": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}, "when_to_choose": {"confidence": null, "enriched_at": "2026-08-29T17:49:46.971188+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "22b824496657c9a65258bb69b71855ecc495c153bd4dc166617bb7ae97e669df", "fetched_at": "2026-08-28T04:09:34.237946+00:00", "kind": "readme", "missing": false, "url": "https://github.com/HKUST-Aerial-Robotics/VINS-Mono"}], "taxonomy_version": 1}}, "score": {"components": {"activity": 0, "longevity": 100, "rhythm": 35}, "computed_at": "2026-09-02T17:46:02.011165+00:00", "flags": ["no_releases"], "formula": "round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)", "inputs": {"age_days": 3392, "days_push": 749, "days_rel": null, "gap_med": null, "n_releases_24m": 0}, "score": 32, "version": 2}, "staleness": {"enrichment_outdated": false, "low_confidence": false, "scrape_days": 9, "stale_scrape": false}}