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KudanSLAM: relocalisation on pre-existing maps

This video shows the accurate and robust capability of KudanSLAM to relocalise on pre-existing maps

1. Mapping was done by KudanSLAM in advance and saved. The demo app loads various relocalisation sequences and attempts to relocalise against the existing map. No expansion or other modifications are made to the map – tracking is relying completely on the saved map state.

2. Some environments such as the puzzle were mapped on a different day with different weather conditions from the relocalisation sequences.

3. Purely monocular using only vision (no inertial data).