Visual SLAM algorithms typically fuse data from stereo cameras and IMU requiring calibration of intrinsic and extrinsic properties. Factory calibration typically provides sufficient estimation if these parameters however in many systems these parameters might vary over time due to thermal changes or physical misalignment due to internal or external factors.It would be helpful to understand how to determine which parameters actually change in a given system design and how best to accommodate this change by implementing an online calibration system to mitigate the impact of changes over time. Additionally, it would be helpful to understand the impact to the fused sensor data due to these changes.
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