Thanks for amazing article Matt!
Alex Korovyansky

Thanks Matt!

> It gives each point a “reliability score” to measure whether that point can be used to reliably calculate the pose of the device. What happens is that only the points that are stable end up being used, and anything in the scene that is moving (or gets occluded by a moving obejct) gets ignored.

Could you name good open source VIO implementation containing such kind of scoring?

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