VO Coupled Stereo-MSCKF for Visual Inertial Odometry - Robot Localization
This repository is for a modified version of S-MSCKF algorithm (Stereo - Multi State Constrained Kalman Filter) written by KumarRobotics of University of Pennsylvenia. It has a loosely coupled VO pipeline along with the existing tightly coupled sensor fusion pipeline of Camera and IMU.