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                                            nikhilarane

Does anyone know how to add GPS coordinates in optimization of monocular ORBSLAM?

I am thinking an error function of (X - Xgps)^2 + reprojection error. What will be the structure for this?

Does anyone know how to add GPS coordinates in optimization of monocular ORBSLAM?

Thanks, Rainer and Shanmukhananda. "create a new custom unary edge which implements BaseUnaryEdge. This is a prior edge" What will be the Jacobian for this edge