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user 41734
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How to combine ORB-SLAM3 with robot_localization
I'm using robot_localization package to estimate the pose of my robot wrt odom frame. I managed to fuse both data coming from my wheel odometry and IMU.
My robot has a fisheye camera and I have used O …
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How to combine ORB-SLAM3 with robot_localization
In order to fuse the orb SLAM pose estimate with the Kalman Filter of the robot_localization package it is necessary to publish PoseWithCovariance messages.
An implementation in orb2_slam is available …