An implementation of visual-inertial EKF SLAM, more specific, the known correspondence EKF SLAM. The visual features are markers.It uses IMU measurements to predict system states and visual markers measurements to update system states. The system simultaneously estimates the 15-dims imu states and 6-dims marker states
The detail description can be found in https://zhuanlan.zhihu.com/p/98472384
If you have any issues, feel free to contact me through email(daojun@mail.ustc.edu.cn)
