Skip to content
RobothecaBeta
Log in

VINS-Fusion

  • Software
  • Navigation and mapping
  • Library

VINS-Fusion is an optimization-based multi-sensor state estimator for self-localization of drones, cars, and AR/VR devices. It extends VINS-Mono to several camera and IMU setups.

  • Stale

Made by HKUST Aerial Robotics Group, Hong Kong SAR China (checked on github.com/HKUST-Aerial-Robotics (opens in a new tab)).

Source on GitHub: github.com/HKUST-Aerial-Robotics/VINS-Fusion (opens in a new tab). Facts read at commit be55a93 (opens in a new tab).

Licenses

Code
GPL-3.0-only (opens in a new tab)

Read by Robotheca from LICENCE (opens in a new tab) (GPL-3.0-only) at commit be55a93 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Copyleft: Modified source must be published.

Labels

  • StaleNo commit in 12 months: the newest is from 26 Jul 2021.

What it does

  • Supports stereo cameras, mono camera plus IMU, and stereo cameras plus IMU.
  • Performs online spatial calibration between the camera and the IMU.
  • Performs online temporal calibration of the time offset between camera and IMU.
  • Includes visual loop closure to correct drift over long trajectories.
  • Can fuse visual-inertial odometry with GPS as a toy example.
  • Ships example configurations and runs for EuRoC, KITTI odometry, KITTI GPS fusion, and a car bag file.

Written by Robotheca from the project's README (opens in a new tab) at commit be55a93.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Ubuntu 64-bit 16.04 or 18.04 with ROS Kinetic or Melodic, plus Ceres Solver.

Maintenance

Status
Stale: no commit in 12 months
Newest commit
26 Jul 2021 on master
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.