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# MSCKF\_VIO # MSCKF\_VIO
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<!-- The `MSCKF_VIO` package is a stereo version of MSCKF. The software takes in synchronized stereo images and IMU messages and generates real-time 6DOF pose estimation of the IMU frame.
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The `MSCKF_VIO` package is a stereo implementation of the MSCKF algorithm introduced in [1] with modifications. The software takes in synchronized stereo image pairs and IMU messages and generates real-time 6DOF pose estimation of the IMU frame.
The software is tested on Ubuntu 16.04 with ROS Kinetic. The software is tested on Ubuntu 16.04 with ROS Kinetic.
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`feature_point_cloud` (`sensor_msgs/PointCloud2`) `feature_point_cloud` (`sensor_msgs/PointCloud2`)
Shows current features in the map which may be used for estimation. Shows current features in the map which may be used for estimation.
[1] Mourikis, Anastasios I., and Stergios I. Roumeliotis. "A multi-state constraint Kalman filter for vision-aided inertial navigation." Robotics and automation, 2007 IEEE international conference on. IEEE, 2007.