Revision history [back]

Hi Jose Luís,

Any visual odometer will give you its output in speeds rather than in poses. The pose in the topic is the only integration of the twist. The given motion covariance is the bare output of libfovis. To better understand how they calculate it, I encourage you to read their paper.

About the EKF, I would integrate the VO in speeds and do some tests with it. With those values, were you moving at a speed rate or were you static?