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                                            erwin14

Problem with the initialization of ethzasl_sensor_fusion

Hi Stephan and Simon, thanks for your fast response. What I've learned from other issues is that q_wv is the unit quaternion if the world-frame (in my case the 2d-map)...

Problem with the initialization of ethzasl_sensor_fusion

The Vision-Frame(PTAM-Frame) is not aligned with gravity because the camera is front-looking. Could you describe in some more detail how I could compute a pose estimate of the robot in...