I am implementing a 3D pose estimation algoriothm on mobile device (Android) which has Gyro, Accelerometer and Magnetometer sensors. I have already develeoped a Visual SLAM algoirthm to estimate full 3D camera pose. I want to estimate same pose just by using these sensors.
I have seen the code for EKF based sensor fusion techniques, Attitude estiamtor, etc. But none of these give full 3D Pose. Insted these give only orientation (and not scale and translation)
Could any one suggest an open source C++ implementation (Not using ROS) for the problem?
Few links which I have already found: