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Last Updated: September 29, 2026
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Localization off of AprilTags using Visual SLAM is used to determine the poses of AprilTag boards at the UPenn Aviary. Demonstrates an implementation of a grid-based FastSLAM with improved proposal and selective resampling applied to A simple demonstration of switchable Incremental Scan-to-Submap registration and Using ORB SLAM2 from link github.com/raulmur/ORB_SLAM2 with some modifications. Sequence shows how frame dropping and blur trigger the true scale relocalization mechanism. The final frames show the online ... example of extrinsic calibration using
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