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KudanSLAM integrated with depth sensing, running on TUM RGB-D dataset.

The most important benefit of integrating depth sensor with KudanSLAM is its ability to provide a stereo effect using only monocular vision. This can significantly improve the robustness of SLAM initialisation and allow position tracking through a simple rotation of the sensor, which monocular SLAM systems are theoretically poor at. The depth data can also be utilized to calibrate the scale for SLAM and prevent scale drift.