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LocalOdometry + GNSSCoordinate -> GeoreferencedPose
Fuse local high-frequency visual-inertial odometry with absolute global GNSS coordinates to publish a georeferenced spatial pose.
Problem it solves
Local visual odometry drifts over time, while global GNSS data lacks the frequency and local precision needed for real-time control.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.