VINS-Mono is a SLAM framework developed by researchers at HKUST. The authors also published its mobile version, VINS-Mobile, which can run on iOS devices. Although they provided a pretty good README file to guide us on how to compile and run it, beginners may still feel confused. In this article, I’m going to document all the problems I met, and hopefully, it can be helpful for others.
Bundle Adjustment (BA) has a broad application in Structure From Motion (SFM) problems, which further optimize the location of points to achieve 3D reconstruction. In recent years, traditional filter-based SLAM algorithms have been taken place by optimization-based SLAM, in which BA is the core part. BA can simultaneously optimize camera poses as well as the locations of 3D points by minimizing the reprojection error.
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