我的导航算法学习笔记，主要是写给初学者，已经有基础的同学应该多看论文和代码，看我的笔记学不到啥；内容涵盖导航定位开源程序的源码解读（包括 RTKLIB、GAMP、PSINS、KF-GINS 等）、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；所有内容都可以随意转载，原始文件都放在这里了，大家可以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

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

Implementation of Multi-State Constraint Kalman Filter (MSCKF)

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

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.