V. S. Provkov , I. .S Starodubtsev, Using external sensors in solution of SLAM task // Journal of Physics: Conference Series.1015 032184, 2018.
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This article describes the algorithms of spatial orientation of SLAM, PTAM andtheir positive and negative sides. Based on the SLAM method, a method that uses an RGBDcamera and additional sensors was developed: an accelerometer, a gyroscope, and amagnetometer.
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