├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── VINS-Fusion ├── LICENCE ├── README.md ├── camera_models │ ├── CMakeLists.txt │ ├── camera_calib_example │ │ ├── calibrationdata │ │ │ ├── left-0000.png │ │ │ ├── left-0001.png │ │ │ ├── left-0002.png │ │ │ ├── left-0003.png │ │ │ ├── left-0004.png │ │ │ ├── left-0005.png │ │ │ ├── left-0006.png │ │ │ ├── left-0007.png │ │ │ ├── left-0008.png │ │ │ ├── left-0009.png │ │ │ ├── left-0010.png │ │ │ ├── left-0011.png │ │ │ ├── left-0012.png │ │ │ ├── left-0013.png │ │ │ ├── left-0014.png │ │ │ ├── left-0015.png │ │ │ ├── left-0016.png │ │ │ ├── left-0017.png │ │ │ ├── left-0018.png │ │ │ ├── left-0019.png │ │ │ ├── left-0020.png │ │ │ ├── left-0021.png │ │ │ ├── left-0022.png │ │ │ ├── left-0023.png │ │ │ ├── left-0024.png │ │ │ ├── left-0025.png │ │ │ ├── left-0026.png │ │ │ ├── left-0027.png │ │ │ ├── left-0028.png │ │ │ ├── left-0029.png │ │ │ ├── left-0030.png │ │ │ ├── left-0031.png │ │ │ ├── left-0032.png │ │ │ ├── left-0033.png │ │ │ ├── left-0034.png │ │ │ ├── left-0035.png │ │ │ ├── left-0036.png │ │ │ ├── left-0037.png │ │ │ ├── left-0038.png │ │ │ ├── left-0039.png │ │ │ ├── left-0040.png │ │ │ ├── left-0041.png │ │ │ ├── left-0042.png │ │ │ ├── left-0043.png │ │ │ ├── left-0044.png │ │ │ ├── left-0045.png │ │ │ ├── left-0046.png │ │ │ ├── left-0047.png │ │ │ ├── left-0048.png │ │ │ ├── left-0049.png │ │ │ ├── left-0050.png │ │ │ ├── left-0051.png │ │ │ ├── left-0052.png │ │ │ ├── left-0053.png │ │ │ ├── left-0054.png │ │ │ ├── left-0055.png │ │ │ ├── left-0056.png │ │ │ ├── left-0057.png │ │ │ ├── left-0058.png │ │ │ ├── left-0059.png │ │ │ ├── left-0060.png │ │ │ ├── left-0061.png │ │ │ ├── left-0062.png │ │ │ ├── left-0063.png │ │ │ ├── left-0064.png │ │ │ ├── left-0065.png │ │ │ ├── left-0066.png │ │ │ ├── left-0067.png │ │ │ ├── left-0068.png │ │ │ ├── left-0069.png │ │ │ ├── left-0070.png │ │ │ ├── left-0071.png │ │ │ ├── left-0072.png │ │ │ ├── left-0073.png │ │ │ ├── left-0074.png │ │ │ ├── left-0075.png │ │ │ ├── left-0076.png │ │ │ ├── left-0077.png │ │ │ ├── left-0078.png │ │ │ ├── left-0079.png │ │ │ ├── left-0080.png │ │ │ ├── left-0081.png │ │ │ ├── left-0082.png │ │ │ ├── left-0083.png │ │ │ └── left-0084.png │ │ └── readme.txt │ ├── cmake │ │ └── FindEigen.cmake │ ├── include │ │ └── camodocal │ │ │ ├── calib │ │ │ └── CameraCalibration.h │ │ │ ├── camera_models │ │ │ ├── Camera.h │ │ │ ├── CameraFactory.h │ │ │ ├── CataCamera.h │ │ │ ├── CostFunctionFactory.h │ │ │ ├── EquidistantCamera.h │ │ │ ├── PinholeCamera.h │ │ │ ├── PinholeFullCamera.h │ │ │ └── ScaramuzzaCamera.h │ │ │ ├── chessboard │ │ │ ├── Chessboard.h │ │ │ ├── ChessboardCorner.h │ │ │ ├── ChessboardQuad.h │ │ │ └── Spline.h │ │ │ ├── gpl │ │ │ ├── EigenQuaternionParameterization.h │ │ │ ├── EigenUtils.h │ │ │ └── gpl.h │ │ │ └── sparse_graph │ │ │ └── Transform.h │ ├── package.xml │ ├── readme.md │ └── src │ │ ├── calib │ │ └── CameraCalibration.cc │ │ ├── camera_models │ │ ├── Camera.cc │ │ ├── CameraFactory.cc │ │ ├── CataCamera.cc │ │ ├── CostFunctionFactory.cc │ │ ├── EquidistantCamera.cc │ │ ├── PinholeCamera.cc │ │ ├── PinholeFullCamera.cc │ │ └── ScaramuzzaCamera.cc │ │ ├── chessboard │ │ └── Chessboard.cc │ │ ├── gpl │ │ ├── EigenQuaternionParameterization.cc │ │ └── gpl.cc │ │ ├── intrinsic_calib.cc │ │ └── sparse_graph │ │ └── Transform.cc └── vins_estimator │ ├── CMakeLists.txt │ ├── cmake │ └── FindEigen.cmake │ ├── launch │ └── vins_rviz.launch │ ├── package.xml │ └── src │ ├── estimator │ ├── estimator.cpp │ ├── estimator.h │ ├── feature_manager.cpp │ ├── feature_manager.h │ ├── parameters.cpp │ └── parameters.h │ ├── factor │ ├── imu_factor.h │ ├── initial_bias_factor.h │ ├── initial_pose_factor.h │ ├── integration_base.h │ ├── marginalization_factor.cpp │ ├── marginalization_factor.h │ ├── pose_local_parameterization.cpp │ ├── pose_local_parameterization.h │ ├── projectionOneFrameTwoCamFactor.cpp │ ├── projectionOneFrameTwoCamFactor.h │ ├── projectionTwoFrameOneCamFactor.cpp │ ├── projectionTwoFrameOneCamFactor.h │ ├── projectionTwoFrameTwoCamFactor.cpp │ ├── projectionTwoFrameTwoCamFactor.h │ ├── projection_factor.cpp │ └── projection_factor.h │ ├── featureTracker │ ├── feature_tracker.cpp │ └── feature_tracker.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 │ ├── rosNodeTest.cpp │ └── utility │ ├── CameraPoseVisualization.cpp │ ├── CameraPoseVisualization.h │ ├── tic_toc.h │ ├── utility.cpp │ ├── utility.h │ ├── visualization.cpp │ └── visualization.h ├── cam.yaml ├── drone_package_for_gazebo ├── d435i │ ├── d435i.dae │ ├── model.config │ └── model.sdf ├── kaist_url_drone │ ├── kaist_url_drone.sdf │ ├── materials │ │ ├── carbon.jpg │ │ ├── ccw.stl │ │ ├── cw.stl │ │ ├── frame.dae │ │ └── frame.stl │ └── model.config ├── kaist_url_drone_sensors │ ├── kaist_url_drone_sensors.sdf │ └── model.config └── uwb │ ├── model.config │ └── model.sdf ├── ekf_landing ├── CMakeLists.txt ├── include │ ├── autoland.h │ ├── main.h │ ├── pid_controller.h │ └── utility.h ├── launch │ ├── kalman.launch │ ├── robot_pose_ekf.launch │ ├── sitl_model_name_change.launch │ └── world.launch ├── msg │ ├── bbox.msg │ └── bboxes.msg ├── package.xml ├── scripts │ ├── 3.bag │ ├── class.txt │ ├── csv_files │ │ ├── 3_estimated_drone_path.csv │ │ ├── 3_estimated_mobile_path.csv │ │ ├── 3_iris0_gt_path.csv │ │ ├── 3_iris0_my_path.csv │ │ ├── 3_jackal1_gt_path.csv │ │ └── 3_jackal1_my_path.csv │ ├── mavros_joy_controller.py │ ├── mobile_move_traj.py │ ├── path_bag_to_txt.py │ ├── ros_opencv_dnn.py │ ├── tf_broadcaster.py │ ├── visualizer.py │ ├── yolov4-tiny-3l-obj.cfg │ └── yolov4-tiny-3l-obj_final.weights └── src │ ├── autoland.cpp │ └── main.cpp ├── gazebosensorplugins ├── CMakeLists.txt ├── LICENSE ├── README.md ├── package.xml └── src │ ├── 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