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Text Elements

SLAM

Visual Odometry

0

1

2

3

4

5

6

7

Backend

Graph Optimization

x: 0.1m y: 0.02m z:0.01m

x: 0.1m y: 0.02m z:0.01m

x: 0.1m y: 0.02m z:0.01m

x: 0.1m y: 0.02m z:0.01m

x: 0.1m y: 0.02m z:0.01m

pose 0

pose 1

pose 2

landmarks

imu

reprojection error

landmarks