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VINS-AR

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# VINS-AR
## Monocular Visual-Inertial State Estimation for Mobile Augmented Reality

(**Please checkout to our new repo**: https://github.com/HKUST-Aerial-Robotics/VINS-Mobile)

VINS-AR is a real-time visual-inertial-based augmentged reality system. This code implements an initilization-free **monocular** sliding window based **visual-inertial-loop** odometry, which is running on IOS devices in real time.

**1. Drift elimination and robustness test screenshots:**

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/2v.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/2v.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/4v.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/4v.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/7v.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/7v.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/blur2.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/blur2.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/2i.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/2i.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/4i.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/4i.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/7i.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/7i.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/blur3.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/blur3.png" width="210" height="160"></a>
</figure>

**2 Real-time indoor and outdoor AR demonstration:**

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/indoor2.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/indoor2.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/indoor1.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/indoor1.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/indoor3.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/indoor3.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/indoor4.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/indoor4.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/farm3.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/farm3.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/farm4.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/farm4.png" width="210" height="160"></a>
</figure>

<figure class="half">
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/farm1.png" ><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/farm1.png" width="210" height="160"></a>
    <a href="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material
/farm2.png"><img src="https://github.com/PeiliangLi/VINS-AR/blob/master/support_material/farm2.png" width="210" height="160"></a>
</figure>