QIU Xiaochen

LARVIO. A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

IMU-Preintegration-Propogation-Doc. 中文文档：IMU预积分总结与公式推导

IMU_error_state_propagation_doc. 采用Hamilton四元数的低成本IMU误差方程详细推导

sim3_evaluate_tool. A matlab tool to evaluate trajectory RMSE using sim3 alignment.

msckf_vio_zhushi. msckf_vio注释

kitti_to_rosbag_for_vio. a modified version based on ethz-asl/kitti_to_rosbag to record image and imu data for running VIOs

ORB_SLAM2_zhushi. 比较啰嗦的orbslam单目部分注释；采用本地最新版本g2o；一些格式转换的私货main（Example/zzz_QXC_Test）

docker-larvio-playground. A VNC docker image for playing with LARVIO. Ubuntu Bionic and ROS Melodic.

VINS-Mobile. Monocular Visual-Inertial State Estimator on Mobile Phones

ORB_SLAM3. ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

VINS-kidnap. a place recognition system for VINS-fusion

openvslam. OpenVSLAM: a Versatile Visual SLAM Framework