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JdeRobot / SDslam

Semi Direct SLAM (SD-SLAM) for Monocular and RGB-D Cameras
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Close #3: Fuse monocular and IMU data #2

Closed eperdices closed 6 years ago

eperdices commented 6 years ago

Localization is now predicted with an EKF before visual matching. By default this EKF uses a constant velocity model, but it can also use IMU data when available.