#SLAM Resource
1.MSCKF
Experimental implementation of the Multi-State Constraint Kalman Filter with ROS interface.
Based on the paper by Mourikis and Roumeliotis (PDF).
Also includes a feature tracking node using OpenCV's SIFT implementation.
This is a work in progress. In particular, The API is a bit non-standard and is subject to change. url:https://github.com/leokoppel/msckf
Implementation of Multi-State Constraint Kalman Filter (MSCKF) for Vision-aided Inertial Navigation. This is my master's thesis. url:https://github.com/tomas789/tonav