Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspirat

OpenVSLAM对应词袋 OpenVSLAM is a monocular, stereo, and RGBD visual SLAM system. The notable features are: It is compatible with various type of camera models and can be easily customized for other camera models. Created maps can be stored and loaded, then OpenVSLAM can localize new images based

包含一个相机数据发布节点源码、一个launch文件和一个供参考的标定数据文件，launch文件指定了一些配置文件，主要是标定文件的存放位置等，相机数据发布节点主要用于发布摄像头的左右视图以及相机的标定参数信息。该相机数据发布节点可以用于相机标定阶段，也可以用于建图阶段，只是在标定阶段，发布的相机标定信息不会被使用。