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  • Mateo de Mayo's avatar
    Improvements from Monado SLAM datasets WMR recordings · 385c161f
    Mateo de Mayo authored
    https://huggingface.co/datasets/collabora/monado-slam-datasets/
    
    The recording of the Reverb G2 and Odyssey+ as new additions to the Monado SLAM datasets brought the following updates to Basalt:
    
    - Improve config files organization
    - Get visual-only odometry closer to VIO by implementing
      - KF_MARG_FORWARD_VECTOR marginlization heuristic
      - Long term keyframes
      - Matrix blocks visualization
      - State reset
    - Add reset state button to UI
    - Prioritize older landmarks for recall
    - Improvements to basalt time alignment and calibration tools
    385c161f
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