DESCRIPTION OF FILES hw3_main.py
- does imu localization via EKF prediction step
- does landmark mapping via EKF update step
- combines EKF prediction/update and landmark mapping to perform visual-inertial SLAM
- produces map with tracked vehicle pose and sensed landmarks
hat.py
- hat() - function which does hat operation on a vector
utils.py
- load_data() - used to load timestamps, features, linear velocity, angular velocity, (left)camera intrinsic matrix, stereo camera baseline, imu to camera frame transform
- visualize_trajectory_2d() - used to visualize vehicle pose and sensed landmarks