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On a slightly different note - do you guys know why exactly the current VSLAM package fails to do a good job when the robot is moving very fast/ taking very sharp turns?.. I only want to know why this happens on a conceptual level.

I am an undergraduate student and my project is to actually try and improve the performance of VSLAM!.. and I am new to ROS! I would be really grateful to you guys if you could help me out here!

I tried looking into the package files.. but its really tedious and hard to follow! I'm still working through them one by one!

Thanks!