C Forster

Hi, you are right, this parameter is currently not used as there is no IMU integration in this version. One easy way is to compute relative rotations using the IMU...

Hi @enjoychang, as described in the paper, we use https://github.com/ethz-asl/ethzasl_msf to fuse the output of SVO with an IMU. Here is a description on how to setup SVO with MSF:...

There is a supplementary material to that paper that shows the derivation. however, there is a typo that we needed to fix to make it work. Equation (19) in the...