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qintonguav committed Mar 25, 2018
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VINS-Mobile is a real-time monocular visual-inertial state estimator developed by members of the [HKUST Aerial Robotics Group](http://uav.ust.hk/). It runs on compatible iOS devices, and provides localization services for augmented reality (AR) applications. It is also tested for state estimation and feedback control for autonomous drones. VINS-Mobile uses sliding window optimization-based formulation for providing high-accuracy visual-inertial odometry with automatic initialization and failure recovery. The accumulated odometry errors are corrected in real-time using global pose graph SLAM. An AR demonstration is provided to showcase its capability.

**Authors:** [Peiliang LI](https://github.com/PeiliangLi), [Tong QIN](https://github.com/qintony), [Zhenfei YANG](https://github.com/dvorak0), Kejie QIU, and [Shaojie SHEN](http://www.ece.ust.hk/ece.php/profile/facultydetail/eeshaojie) from the [HKUST Aerial Robotics Group](http://uav.ust.hk/)
**Authors:** [Peiliang LI](https://github.com/PeiliangLi), [Tong QIN](http://www.qintonguav.com), [Zhenfei YANG](https://github.com/dvorak0), Kejie QIU, and [Shaojie SHEN](http://www.ece.ust.hk/ece.php/profile/facultydetail/eeshaojie) from the [HKUST Aerial Robotics Group](http://uav.ust.hk/)

**Videos:** https://youtu.be/0mTXnIfFisI https://youtu.be/CI01qbPWlYY ([Video1](http://www.bilibili.com/video/av10813373/) [Video2](http://www.bilibili.com/video/av10813030/) for mainland China friends)

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