| Description | Stereo visual-inertial odometry (Rust port of Basalt) followed by an offline batch visual-inertial bundle adjustment with loop closure (SIFT features, union-find tracks, pose-graph loop correction; on some sequences, ALIKED keypoints matched by LightGlue in the bundle adjustment pass). Uses the two grayscale SLAM cameras and the 1 kHz IMU. On the Moving platform track only, the 1 Hz GPS of the raw recordings bridges jumps: where the trajectory jumps by 25 m or more against the GPS fixes (accuracy ≤ 10 m), the pieces between the jumps are moved to the GPS. Where the VIO only holds when started late (one test sequence, 60 s in), the poses before that start come from the same VIO run backwards in time over the recording's first 80 s (frames reversed, gyroscope negated), joined rigidly to the forward run. Single VIO per sequence, each sequence from its own recording only. |