DVI-EKF

Implementation of a loosely-coupled VI-ESKF SLAM to estimate the calibration parameters in a cystoscopic camera-IMU sensor setup.

Usage

1. Install required packages (s. requirements.txt )
   e.g.

   pip install -r requirements.txt
   
   e.g. or in conda

   conda env create --file requirements.txt
   
2. Configure settings in config.yaml
3. Run

   python3 main.py 
   

Visualisation