(Please checkout to our new repo: https://github.com/HKUST-Aerial-Robotics/VINS-Mobile)
VINS-AR is a real-time visual-inertial-based augmentged reality system. This code implements an initilization-free monocular sliding window based visual-inertial-loop odometry, which is running on IOS devices in real time.
1. Drift elimination and robustness test screenshots:
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/2v.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/4v.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/7v.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/blur2.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/2i.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/4i.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/7i.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/blur3.png)
2 Real-time indoor and outdoor AR demonstration:
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/indoor2.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/indoor1.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/indoor3.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/indoor4.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/farm3.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/farm4.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/farm1.png)
![](https://github.com/PeiliangLi/VINS-AR/raw/master/support_material/farm2.png)