Update README to reflect BOOM and software architecture after barebones working implementation

ami-iit / kindyn-vio

Development on hold.

GNU Lesser General Public License v3.0

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Open prashanthr05 opened 3 years ago

prashanthr05 commented 3 years ago

Key words

Multi-Threaded sensor fusion
Maximum A Posterior Inference using non-linear optimization through GTSAM iSAM2 solver
Pre-integrated IMU factors
Pre-integrated Legged Odometry factors
Pre-inegrated contact forces factors using centroidal dynamics
RGB points and line factors (reprojection error factors)
PCL based plane factors
ICP odometry factor using Realsense Point clouds