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Pose can be estimated using visual odometry. Some SLAM packages, such as rtabmap, perform visual odometry for you (such as RGB-D, stereo, or ICP visual odometry) provided it is configured correctly for the sensor that you are using. IMU's can also be used for odometry, though the quality will vary with the quality of IMU used; noisy and low quality IMUs will likely not result in odometry that is accurate enough to be useful.