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The VSLAM package in ROS (http://www.ros.org/wiki/vslam), is (a) unsupported (b) out of date and (c) very brittle, as most VSLAM systems are.

If you want to know how it works, read the code. If you're looking for a highly general VSLAM that will work on your system, for your data, we recommend you look elsewhere.

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