VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

@article{Qin2017VINSMonoAR,
  title={VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator},
  author={Tong Qin and Peiliang Li and Shaojie Shen},
  journal={IEEE Transactions on Robotics},
  year={2017},
  volume={34},
  pages={1004-1020}
}
One camera and one low-cost inertial measurement unit (IMU) form a monocular visual-inertial system (VINS), which is the minimum sensor suite (in size, weight, and power) for the metric six degrees-of-freedom (DOF) state estimation. [] Key Method A tightly coupled, nonlinear optimization-based method is used to obtain highly accurate visual-inertial odometry by fusing preintegrated IMU measurements and feature observations.
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