轮式里程计+视觉紧耦合方案

 基于ORB_SLAM：

​​​​​​​GitHub - izhengfan/se2lam: (ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

基于VINS：

GitHub - TouchDeeper/VIW-Fusion: Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light

基于MSCKF：

GitHub - ydsf16/TinyGrapeKit: A bunch of state estimation algorithms

旷世相机里程计外参标定：

GitHub - MegviiRobot/CamOdomCalibraTool: The tool to calibrate extrinsic param between camera and wheel

2023.5.11

更新标定：

 SensorsCalibration/SensorX2car at master · PJLab-ADG/SensorsCalibration · GitHub