MSCKF(Multi-State Constraint Kalman Filter)视觉里程计算法解析

论文

[1] 2007-msckf_1.0: “A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation”
[2] 2011-msckf_modified: “Improving the Accuracy of EKF-Based Visual-Inertial Odometry”
[3] 2012-msckf_2.0: “High-precision, consistent EKF-based visual-inertial odometry”
[4] 2012-Online Temporal Calibration for Camera-IMU Systems: Theory and Algorithms
[5] 2018-msckf_stereo: “Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight”
[6] 2012-“Consistency Analysis and Improvement of Vision-aided Inertial Navigation”
[7] 2012-“On the consistency of Vision-aided Inertial Navigation”
[8] “Monocular Visual Inertial Odometry on a Mobile Device”

书籍

[1] “Quaternion kinematics for the error-state Kalman Filter”
[2] “Indirect Kalman Filter for 3D Attitude Estimation”
[3] “An introduction to inertial navigation”

开源代码

[1] S-MSCKF: https://github.com/KumarRobotics/msckf_vio
[2] msckf_mono: https://github.com/TurtleZhong/msckf_mono

博客

[1] 一步步深入了解S-MSCKF
[2] MSCKF那些事【一】~【十五】（紫薯萝卜知乎公众号）
[3] IMU与惯性导航基础知识介绍
[4] 理论一、MSCKF算法简介
[5] MSCKF-VIO源码框架及C++知识点总结