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pvangoor / eqvio

EqVIO: An Equivariant Filter for Visual Inertial Odometry
GNU General Public License v3.0
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Fusing IMu into existing SLAM code? #1

Closed antithing closed 1 year ago

antithing commented 1 year ago

Hi, and thanks for making this code available. i have an existing SLAM system that I want to add IMU data to, to both smooth the data output and allow for the imu to predict pose when features are lost for a short time.

Is this code suitable for that task?

Thanks!

pvangoor commented 1 year ago

Hi, eqvio is a VIO system. It provides an estimate of the robot's trajectory by using measurements from an IMU and camera. So, if you would like to generate IMU measurements to use in your SLAM system, then this code will not do that. However, if you would like to build a SLAM system that uses IMU measurements, you could build that system by using this code.

antithing commented 1 year ago

Understood. Thank you!