Visual-Inertial SLAM Papers

A collection of papers related to Visual-Inertial SLAM and Visual-Inertial Odometry, grouped by topic. Each section contains a summary table with links to available code repositories.

Complete VIO/VI-SLAM Systems

The below table contains complete open-source VIO systems along with their associated code.

Paper	Year	Code
Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization (OKVIS)	2014
ROVIO: Robust Visual Inertial Odometry using a Direct EKF-Based Approach	2015
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator	2018
VINS-Fusion	2019
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM	2019
OpenVINS: A Research Platform for Visual-Inertial Estimation	2020
PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Points and Lines	2020
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping	2020
DM-VIO: Delayed Marginalization Visual-Inertial Odometry	2022
EqVIO (Equivariant Visual Inertial Odometry)	2022
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation	2023

Consistency in Visual-Inerial State Estimation

These papers deal with the concept of consistency in visual-inertial state estimation, which is closely linked with the observability properties of the system.

Paper	Year	Code
High-Precision, Consistent EKF-based Visual-Inertial Odometry	2013	N/A
Towards Consistent Visual-Inertial Navigation	2014	N/A
Invariant Kalman Filtering for Visual Inertial SLAM	2018	N/A
Consistent EKF-Based Visual-Inertial Odometry on Matrix Lie Group	2018	N/A
FEJ2: A Consistent Visual-Inertial State Estimator Design	2022	N/A
Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation	2022	N/A
Know What You Don't Know: Consistency in Sliding Window Filtering With Unobservable States Applied to Visual-Inertial SLAM	2023	N/A
Map-Based Visual-Inertial Localization: Consistency and Complexity	2023	N/A

Visual-Inertial Calibration

These are a few useful repos/papers discussing visual-inertial calibration.

Paper	Year	Code
Unified Temporal and Spatial Calibration for Multi-Sensor Systems (Kalibr)	2013
IMU Noise Characterization - Allan Variance	2021

Contributing

This is a work in progress and is incomplete - if you'd like to add any papers related to these topics, feel free to submit a pull request!