基于ORB_SLAM:
GitHub - izhengfan/se2lam: (ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
基于VINS:
基于MSCKF:
GitHub - ydsf16/TinyGrapeKit: A bunch of state estimation algorithms
旷世相机里程计外参标定:
2023.5.11
更新标定:
SensorsCalibration/SensorX2car at master · PJLab-ADG/SensorsCalibration · GitHub