Camera, IMU and other sensor data, collected, for
example, using the SLAMcore Dataset Recorder tool. This
can be used as an input to create a session.


Measures the orientation and angular velocity of the camera


An inertial measurement unit measures the camera’s
specific force, angular rate and orientation.

Loop Closure

The assertion that the camera has returned to a
previously visited location and updating pose estimation
beliefs accordingly.

Point Cloud

A point-cloud in this context is defined as a persistent
map of individual points that are plotted in three


The Robot Operating System is a flexible framework for
writing robot software. See


Instance during which a live camera feed or a
dataset is processed to output pose and mapping

Session File

SLAMcore file containing the mapping data created
after processing a live camera feed or dataset.


Simultaneous localization and mapping: constructing or
updating a map of an unknown environment while
simultaneously keeping track of an agent or robot’s
location within the environment.

Visual-inertial tracking system

Additionally using an IMU to determine the position and
orientation of the camera.

Visual Odometry

The process of determining the position and orientation
of the camera by analysing the camera images.