# HKUST-Aerial-Robotics/VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

Repository: https://github.com/HKUST-Aerial-Robotics/VINS-Mono
Canonical: https://ross.abutalabs.com/products/vins-mono
Language: C++
License: GPL-3.0
License Family: copyleft
Topics: state-estimation, vio, vins
Last push: 2024-08-14T17:28:14+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": 3392, "days_push": 749, "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 6011, forks 2232 (observed 2026-08-28T04:09:34.237946+00:00)

## 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.

## 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
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, graphics
- domain: robotics, autonomous-vehicles, computer-vision
- platform: cpp
- tags: slam, visual-inertial-odometry, vio, state-estimation, ros, drones, loop-closure, pose-graph-optimization, imu-preintegration, augmented-reality, linux

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

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:09:34.237946+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 2026-08-29T17:49:46.971188+00:00, confidence not recorded.
  - readme: https://github.com/HKUST-Aerial-Robotics/VINS-Mono (fetched 2026-08-28T04:09:34.237946+00:00, sha 22b824496657)
- Data as of 2026-08-30T08:39:29.467469+00:00.