Original release of the system to the public.
This system has the following abilities and features:
- Visual inertial simulator with environmental planes
- Ability to detect and track environmental planes from sparse points
- Can recover closest-point plane and initialize into state as SLAM
- Point-on-plane constraints can be applied for all co-planar point features
- The Indoor AR Table dataset is released
- AR render display demo and visualization of environmental planes
- Result and evaluation scripts from paper