RootSLAM: Square Root Bundle Adjustment for Visual-Inertial SLAM

RootSLAM is a visual-inertial SLAM system that leverages square-root bundle adjustment to achieve high accuracy and efficiency. It runs up to 20 times faster than existing methods while maintaining competitive performance, making it suitable for resource-constrained environments. The system is built on Basalt and includes features like map management, loop detection, and a pose-graph optimizer, with an open-source release planned.