├── README.md ├── benchmark_publisher ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── config │ ├── V1_01_easy │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ ├── V1_02_medium │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ ├── V1_03_difficult │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ ├── V2_01_easy │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ ├── V2_02_medium │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ ├── V2_03_difficult │ │ ├── data.csv │ │ ├── dataseg.ply │ │ ├── line_3d.txt │ │ └── sensor.yaml │ └── readme.txt ├── launch │ └── publish.launch ├── package.xml └── src │ └── benchmark_publisher_node.cpp ├── camera_model ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── include │ └── camodocal │ │ ├── calib │ │ └── CameraCalibration.h │ │ ├── camera_models │ │ ├── Camera.h │ │ ├── CameraFactory.h │ │ ├── CataCamera.h │ │ ├── CostFunctionFactory.h │ │ ├── EquidistantCamera.h │ │ ├── PinholeCamera.h │ │ └── ScaramuzzaCamera.h │ │ ├── chessboard │ │ ├── Chessboard.h │ │ ├── ChessboardCorner.h │ │ ├── ChessboardQuad.h │ │ └── Spline.h │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.h │ │ ├── EigenUtils.h │ │ └── gpl.h │ │ └── sparse_graph │ │ └── Transform.h ├── instruction ├── package.xml ├── readme.md └── src │ ├── calib │ └── CameraCalibration.cc │ ├── camera_models │ ├── Camera.cc │ ├── CameraFactory.cc │ ├── CataCamera.cc │ ├── CostFunctionFactory.cc │ ├── EquidistantCamera.cc │ ├── PinholeCamera.cc │ └── ScaramuzzaCamera.cc │ ├── chessboard │ └── Chessboard.cc │ ├── gpl │ ├── EigenQuaternionParameterization.cc │ └── gpl.cc │ ├── intrinsic_calib.cc │ └── sparse_graph │ └── Transform.cc ├── config ├── 3dm │ └── 3dm_config.yaml ├── AR_demo.rviz ├── black_box │ └── black_box_config.yaml ├── cla │ └── cla_config.yaml ├── euroc │ ├── euroc_config.yaml │ └── euroc_config_no_extrinsic.yaml ├── extrinsic_parameter_example.pdf ├── fisheye_mask.jpg ├── fisheye_mask_752x480.jpg ├── realsense │ ├── realsense_color_config.yaml │ ├── realsense_fisheye_config.yaml │ └── realsense_zr300 ├── tum │ └── tum_config.yaml └── vins_rviz_config.rviz ├── feature_tracker ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── feature_tracker.cpp │ ├── feature_tracker.h │ ├── feature_tracker_node.cpp │ ├── linefeature.cpp │ ├── linefeature.h │ ├── linefeature_tracker_node.cpp │ ├── parameters.cpp │ ├── parameters.h │ └── tic_toc.h ├── pose_graph ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── package.xml └── src │ ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── DBoW2.h │ │ ├── FBrief.cpp │ │ ├── FBrief.h │ │ ├── FClass.h │ │ ├── FeatureVector.cpp │ │ ├── FeatureVector.h │ │ ├── QueryResults.cpp │ │ ├── QueryResults.h │ │ ├── ScoringObject.cpp │ │ ├── ScoringObject.h │ │ ├── TemplatedDatabase.h │ │ └── TemplatedVocabulary.h │ ├── DUtils │ │ ├── DException.h │ │ ├── DUtils.h │ │ ├── Random.cpp │ │ ├── Random.h │ │ ├── Timestamp.cpp │ │ └── Timestamp.h │ ├── DVision │ │ ├── BRIEF.cpp │ │ ├── BRIEF.h │ │ └── DVision.h │ ├── VocabularyBinary.cpp │ └── VocabularyBinary.hpp │ ├── keyframe.cpp │ ├── keyframe.h │ ├── parameters.h │ ├── pose_graph.cpp │ ├── pose_graph.h │ ├── pose_graph_node.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ └── utility.h ├── support_files ├── image │ └── framework.png └── paper │ ├── TIV_Tightly-coupled Visual Inertial Map Integration with Observability Analysis for Reliable Localization of Intelligent Vehicles.pdf │ └── supplyment_material of Tightly-coupled Visual-Inertial-Map Integration with Observability Analysis for Reliable Localization of Intelligent Vehicles.pdf └── vins_estimator ├── CMakeLists.txt ├── cmake └── FindEigen.cmake ├── launch ├── euroc_line_tightly_coupled.launch └── vins_rviz.launch ├── package.xml └── src ├── estimator.cpp ├── estimator.h ├── estimator_node.cpp ├── factor ├── imu_factor.h ├── integration_base.h ├── line_pose_local_parameterization.cpp ├── line_pose_local_parameterization.h ├── line_projection_factor.cpp ├── line_projection_factor.h ├── marginalization_factor.cpp ├── marginalization_factor.h ├── pose_local_parameterization.cpp ├── pose_local_parameterization.h ├── projection_factor.cpp ├── projection_factor.h ├── projection_td_factor.cpp └── projection_td_factor.h ├── feature_manager.cpp ├── feature_manager.h ├── initial ├── initial_aligment.cpp ├── initial_alignment.h ├── initial_ex_rotation.cpp ├── initial_ex_rotation.h ├── initial_sfm.cpp ├── initial_sfm.h ├── solve_5pts.cpp └── solve_5pts.h ├── loop-closure ├── DLoopDetector.h ├── TemplatedLoopDetector.h ├── ThirdParty │ ├── DBoW │ │ ├── BowVector.cpp │ │ ├── BowVector.h │ │ ├── DBoW2.h │ │ ├── FBrief.cpp │ │ ├── FBrief.h │ │ ├── FClass.h │ │ ├── FeatureVector.cpp │ │ ├── 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