SimpleVIO

This project is based on VINS-Course. Use Eigen-based optimizer to implement bundle adjustment in SFM during initialization.

Prerequisites：

1. OpenCV

2. Eigen

3. Ceres (for camodocal)

4. Pangolin (Optional): https://github.com/stevenlovegrove/Pangolin

Licence

The source code is released under GPLv3 license.