This project tries to implement paper:

Monocular Visual Inertial Odometry on a Mobile Device

Consistency of EKF-based Visual-Inertial Odometry

-2015-4-11-

I finished whole framework, which is a simplified version of shelley14msc. Now I am going to write several ROS package to process image and do simulation.

Gonna folk dvorak0's sensor_processor and data_generator

-2015-4-15-

add ROS packages

1. msckf_vins. core package, move all MyTriangulation code here, and wrap ROS interface to receive sensor data
2. sensor_processor. Read IMU and process image
3. data_generator. a simulated environment that can generate IMU and image

-2015-4-29-

To start the program

roscore

rosrun data_generator data_generator_node

rosrun msckf_vins msckf_vins_node