We describe the Body-Of-Knowledge (BOK) behind VINS-Mono, a state-of-the-art Monocular Visual-INertial System, developed and published by Tong Qin, Peiliang Li, and Shaojie Shen at HKUST-Aerial-Robotic in Hong Kong.
Download VINS-Mono Body-Of-Knowledge [pdf]
Tong Qin, Peiliang Li, and Shaojie Shen; A robust and versatile monocular visual-inertial state estimator; IEEE Transactions on Robotics; 2018