我的导航学习笔记，内容涵盖导航定位开源程序的源码解读 ( 包括：RTKLIB、GAMP、GINav、Ginan、PSINS、SoftGNSS、KF-GINS、GICI-Lib 等)、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；本仓库会长期更新，分享出来，既是跟大家做个交流，也激励着自己坚持学下去；所有内容都可以随意转载，原始文件都放在这了，欢迎在我的基础上整理出自己的一些文档。

Compare state-of-the-art VO/VSLAM/VIO packages in EuRoC datasets. Algorithms include VINS, MSCKF, ORB-SLAM, SVO2 etc.

Spectacular AI SDK

MSCKF (Multi-State Constraint Kalman Filter) implementation in Python

visual (inertia) odometry of a drone with a monocular camera

Implementation of Multi-State Constraint Kalman Filter (MSCKF)

This application uses homography matrix, extracted from consecutive frames of a monocular camera, and fuses this data with input from an inertial measurement unit (IMU). This fusion is employed to accurately estimate positional changes.

The Monocular Dense 3D Reconstruction Toolkit integrates MonoRec and Basalt to create a streamlined pipeline for dense 3D reconstruction using a single camera. Includes scripts for dataset preparation, extracting camera poses and keypoints, generating dense depth maps, and visualizing 3D reconstructions.

Toolbox for quantitative trajectory evaluation of VO/VIO

A comprehensive tool for analysing localisation performance in ROS2 systems. This tool processes ROS2 bags containing pose data, performs trajectory analysis, and provides detailed metrics and visualisations.