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There countless implementations for the camera-only methods. Have a look at the following SLAM codes or demo videos. EKF-SLAM ORB-SLAM LSD-SLAM Structure from motion VITAMIN-E https://www.youtube.com/watch?v=yfKccCmmMsM These are all hand-held SLAMs but can be adapted to your case as well. Feature initialization might be a problem but because odometry ...

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