Map-based localization hits 1.9cm RMSE across EuRoC flights in visloc-rs
rsasaki0109 · x · 2026-10-28
arai01robo demos map-based localization: a stereo-inertial SLAM builds and saves a map during EuRoC flight MH01, then localizes on a different flight (MH02). With VIO anchored to the map, every frame gets a map pose — 3,039 of 3,040 frames, at 1.9 cm RMSE against ground truth. Implementation open-sourced as visloc-rs (Rust).
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