This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.
OpenPose: Real-time multi-person keypoint detection library for body, face, and hands estimation
A heterogeneous and fully parallel stereo matching algorithm for depth estimation, implementing a local adaptive support weight (ADSW) Guided Image Filter (GIF) cost aggregation stage. Developed in both C++ and OpenCL.
Implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation. This is my master's thesis.
This repo contains MATLAB implementations of the event-based feature tracking methods described in "Event-based Feature Tracking with Probabilistic Data Association" and "Event-based Visual Inertial Odometry".
VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0
