README ====== FILE DESCRIPTION ============ main.py - the python execution file for running EKF SLAM, which takes dataset from dirname in the configuration dictionary ekf_vio.py - contains the EKF class definition and update procedure ekf_utils.py - contains the transformation and functions used in EKF estimation utils.py - contains the load_data function and visualization function test.py - contains the testing unit for SO3 rotation matrix exponential map ====== DATASET DESCRIPTION ========== "data" folder contains the landmark camera features and IMU used in this project