Add loop-closure and re-localization to ROVIO

[mzahana]

Hi.

Thanks for the great pkg. I was able to use ROVIO with a custom VI setup. However, as any other VIO system, drift is unavoidable. To minimize the drift I was thinking if it is possible to integrate loop-closure and re-localization framework with ROVIO.

Is this something doable without modifying ROVIO code? i.e. Can one use an independent package that takes ROVIO estimation, IMU and image measurements, does the loop closure, then send the corrected pose back to ROVIO?

If yes, what data exchange is needed between ROVIO and an independent loop-closure and re-localization package.

Any hints, pointers, or clarification are highly apreciated.

Thanks

[mzahana]

@bloesch can you assist with this please?