This will be the code repository of our visual odometry based on basalt. As soon as we have all permissions the code will be uploaded.
After submitting our paper Towards Robust Monocular Odometry for Flying Robots on Planetary Missions, we realized that the most recent version of Tab. II on page 8 of has NOT been included, unfortunately. The RMS RPE values for DSO and ORB-SLAM3 are not correct as the trajectories results were not transformed into the IMU reference frame, for which ground-truth data is given in the MADMAX dataset. Also the additional information about tracking percentage is missing. The correct version of Tab. II is shown below
