├── .gitignore ├── README.md ├── certificate.jpg ├── ch01_overview ├── README.md ├── ans_pdf │ ├── bibfile.bib │ ├── vio_work_ch1.pdf │ └── vio_work_ch1.tex ├── code_eigen_rotation │ ├── CMakeLists.txt │ └── eigen_rotation.cpp ├── images │ ├── ch01_couple_loose.jpg │ ├── ch01_couple_tight.jpg │ └── ch01_imu_visual.jpg ├── 第1节 作业.pdf └── 第1节 概述与课程介绍.pdf ├── ch02_imu ├── README.md ├── ans_pdf │ ├── bibfile.bib │ ├── imu_sim_01_acc.png │ ├── imu_sim_01_gyr.png │ ├── imu_sim_02_acc.png │ ├── imu_sim_02_gyr.png │ ├── vio_work_ch2.pdf │ └── vio_work_ch2.tex ├── images │ └── ch02_00.png └── 第2节 IMU传感器.pdf ├── ch03_vi_fusion ├── README.md ├── ans_pdf │ ├── bibfile.bib │ ├── lm_damping_factor_new.png │ ├── vio_work_ch3.tex │ ├── 晨光-第三节课作业 - 二次修改.pdf │ └── 晨光-第三节课作业.pdf ├── code_curve_fitting_LM │ ├── CMakeLists.txt │ ├── README.md │ ├── app │ │ ├── CMakeLists.txt │ │ └── CurveFitting.cpp │ ├── backend │ │ ├── CMakeLists.txt │ │ ├── backend.h │ │ ├── edge.cc │ │ ├── edge.h │ │ ├── eigen_types.h │ │ ├── problem.cc │ │ ├── problem.h │ │ ├── vertex.cc │ │ └── vertex.h │ ├── cmake │ │ ├── FindEigen.cmake │ │ └── FindGlog.cmake │ ├── draw_data.py │ └── utils │ │ ├── CMakeLists.txt │ │ └── tic_toc.h ├── damping_strategy.jpg ├── images │ └── ch03_00.png └── 第3节 基于优化的IMU预积分与视觉信息融合.pdf ├── ch04_vio_observability_consistency ├── README.md ├── ans_pdf │ ├── bayers_01.png │ ├── preamble.tex │ ├── tikz_ifm.svg │ ├── tikz_ifm.tex │ ├── tikz_ifm_marg.svg │ ├── tikz_ifm_marg.tex │ ├── vio_work_ch4.tex │ └── 晨光-第四节课作业.pdf ├── code_nullspace_test │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake │ │ └── FindEigen3.cmake │ └── hessian_nullspace_test.cpp ├── images │ └── ch04_00.png ├── 第4节 作业.png └── 第4节 滑动窗口理论.pdf ├── ch05_backend_optimization ├── README.md ├── ans_pdf │ ├── ba_mono_01.png │ ├── ba_mono_02.png │ ├── bibfile.bib │ ├── cov_mat.jpg │ ├── preamble.tex │ ├── vio_gauge_freedom.png │ ├── vio_work_ch5.tex │ └── 晨光-第五节课作业.pdf ├── code_ba_schur │ ├── CMakeLists.txt │ ├── app │ │ ├── CMakeLists.txt │ │ ├── CurveFitting.cpp │ │ └── TestMonoBA.cpp │ ├── backend │ │ ├── CMakeLists.txt │ │ ├── backend.h │ │ ├── edge.cc │ │ ├── edge.h │ │ ├── edge_imu.cc │ │ ├── edge_imu.h │ │ ├── edge_prior.cpp │ │ ├── edge_prior.h │ │ ├── edge_reprojection.cc │ │ ├── edge_reprojection.h │ │ ├── eigen_types.h │ │ ├── imu_integration.cc │ │ ├── imu_integration.h │ │ ├── loss_function.cc │ │ ├── loss_function.h │ │ ├── problem.cc │ │ ├── problem.h │ │ ├── vertex.cc │ │ ├── vertex.h │ │ ├── vertex_inverse_depth.h │ │ ├── vertex_motion.h │ │ ├── vertex_point_xyz.h │ │ ├── vertex_pose.cc │ │ └── vertex_pose.h │ ├── cmake │ │ ├── FindEigen.cmake │ │ └── FindGlog.cmake │ ├── frontend │ │ ├── CMakeLists.txt │ │ ├── camera.h │ │ ├── feature.h │ │ ├── frame.cc │ │ ├── frame.h │ │ └── map_point.h │ ├── readme.md │ ├── thirdparty │ │ └── Sophus │ │ │ └── sophus │ │ │ ├── se3.hpp │ │ │ ├── so3.hpp │ │ │ └── sophus.hpp │ └── utils │ │ ├── CMakeLists.txt │ │ └── tic_toc.h ├── images │ ├── ch05_01.png │ ├── ch05_02.png │ ├── ch05_03.png │ ├── ch05_04.jpg │ ├── ch05_05.png │ └── ch05_06.png └── 第5节 滑动窗口算法实践.pdf ├── ch06_visual_frontend ├── README.md ├── ans_pdf │ └── 晨光-第六节课作业.pdf ├── code_triangulate │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ └── triangulate.cpp ├── images │ └── ch06_vo_frontend_analysis.jpg ├── 作业.png └── 第6节 视觉前端.pdf ├── ch07_vins_init ├── README.md ├── ans_pdf │ ├── images │ │ ├── trajectory.png │ │ ├── trajectory_noise01.png │ │ └── trajectory_noise02.png │ ├── preamble.tex │ ├── vio_work_ch7.pdf │ └── vio_work_ch7.tex ├── code_vins_sys │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── MH_05_cam0.txt │ │ ├── MH_05_imu0.txt │ │ ├── euroc_config.yaml │ │ └── sim_config.yaml │ ├── doc │ │ └── vins.gif │ ├── include │ │ ├── System.h │ │ ├── backend │ │ │ ├── backend.h │ │ │ ├── edge.h │ │ │ ├── edge_imu.h │ │ │ ├── edge_prior.h │ │ │ ├── edge_reprojection.h │ │ │ ├── eigen_types.h │ │ │ ├── imu_integration.h │ │ │ ├── loss_function.h │ │ │ ├── problem.h │ │ │ ├── vertex.h │ │ │ ├── vertex_inverse_depth.h │ │ │ ├── vertex_point_xyz.h │ │ │ ├── vertex_pose.h │ │ │ └── vertex_speedbias.h │ │ ├── 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 │ │ ├── estimator.h │ │ ├── factor │ │ │ └── integration_base.h │ │ ├── feature_manager.h │ │ ├── feature_tracker.h │ │ ├── feature_tracker_parameters.h │ │ ├── initial │ │ │ ├── initial_alignment.h │ │ │ ├── initial_ex_rotation.h │ │ │ ├── initial_sfm.h │ │ │ └── solve_5pts.h │ │ ├── parameters.h │ │ └── utility │ │ │ ├── tic_toc.h │ │ │ └── utility.h │ ├── src │ │ ├── System.cpp │ │ ├── backend │ │ │ ├── edge.cc │ │ │ ├── edge_imu.cc │ │ │ ├── edge_prior.cpp │ │ │ ├── edge_reprojection.cc │ │ │ ├── imu_integration.cc │ │ │ ├── loss_function.cc │ │ │ ├── problem.cc │ │ │ ├── vertex.cc │ │ │ └── vertex_pose.cc │ │ ├── camera_models │ │ │ ├── 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 │ │ ├── estimator.cpp │ │ ├── feature_manager.cpp │ │ ├── feature_tracker.cpp │ │ ├── feature_tracker_parameters.cpp │ │ ├── initial │ │ │ ├── initial_aligment.cpp │ │ │ ├── initial_ex_rotation.cpp │ │ │ ├── initial_sfm.cpp │ │ │ └── solve_5pts.cpp │ │ ├── parameters.cpp │ │ └── utility │ │ │ └── utility.cpp │ ├── test │ │ ├── CurveFitting.cpp │ │ ├── run_euroc.cpp │ │ └── run_sim.cpp │ └── thirdparty │ │ └── Sophus │ │ └── sophus │ │ ├── se3.hpp │ │ ├── so3.hpp │ │ └── sophus.hpp ├── images │ ├── ch07_vins.jpg │ └── ch07_visual_imu_align.jpg └── 第7节 Initialization.pdf ├── ch08_vins_summary ├── README.md ├── images │ ├── ch08_01.png │ ├── ch08_02.png │ └── ch08_03.png └── 第8节 总结与展望.pdf ├── final ├── ans_pdf │ └── final.pdf ├── code_vins_sys │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── MH_05_cam0.txt │ │ ├── MH_05_imu0.txt │ │ └── euroc_config.yaml │ ├── doc │ │ └── vins.gif │ ├── include │ │ ├── System.h │ │ ├── backend │ │ │ ├── backend.h │ │ │ ├── edge.h │ │ │ ├── edge_imu.h │ │ │ ├── edge_prior.h │ │ │ ├── edge_reprojection.h │ │ │ ├── eigen_types.h │ │ │ ├── imu_integration.h │ │ │ ├── loss_function.h │ │ │ ├── problem.h │ │ │ ├── vertex.h │ │ │ ├── vertex_inverse_depth.h │ │ │ ├── vertex_point_xyz.h │ │ │ ├── vertex_pose.h │ │ │ └── vertex_speedbias.h │ │ ├── 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 │ │ ├── estimator.h │ │ ├── factor │ │ │ └── integration_base.h │ │ ├── feature_manager.h │ │ ├── feature_tracker.h │ │ ├── feature_tracker_parameters.h │ │ ├── initial │ │ │ ├── initial_alignment.h │ │ │ ├── initial_ex_rotation.h │ │ │ ├── initial_sfm.h │ │ │ └── solve_5pts.h │ │ ├── parameters.h │ │ └── utility │ │ │ ├── tic_toc.h │ │ │ └── utility.h │ ├── src │ │ ├── System.cpp │ │ ├── backend │ │ │ ├── edge.cc │ │ │ ├── edge_imu.cc │ │ │ ├── edge_prior.cpp │ │ │ ├── edge_reprojection.cc │ │ │ ├── imu_integration.cc │ │ │ ├── loss_function.cc │ │ │ ├── problem.cc │ │ │ ├── vertex.cc │ │ │ └── vertex_pose.cc │ │ ├── camera_models │ │ │ ├── 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 │ │ ├── estimator.cpp │ │ ├── feature_manager.cpp │ │ ├── feature_tracker.cpp │ │ ├── feature_tracker_parameters.cpp │ │ ├── initial │ │ │ ├── initial_aligment.cpp 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