I am trying to fuse external GNSS data with the ZED camera position tracking data (visual odometry)


I am able to get real-time lat, long data from a GNSS receiver and I have converted them to cartesian coordinate starting from (0, 0) for my mobile robot localization in a small area. Now I am trying to fuse with the Positional Tracking from my ZED 2i (Translation and Orientation) to achieve an more accurate localization. I know EKF must be used, but I am really confused how to go about with this problem. I am doing it in python and without the use of IMU.

Hi @tarun
Welcome to the Stereolabs community.

The ZED SDK supports GNSS integration.
Please follow these examples to know more.

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