Support for an efficient Localization Mode about kimera-vio HOT 4 OPEN

Would localization mode make more sense to be in the Kimera SLAM repo?

I think this would be a great feature to add. We're considering this over in the ROS2 navigation-land as a potential supported VIO source for odometry fusion, as well as V-SLAM for positioning (https://github.com/ros-planning/navigation2).

Beyond a typically functional SLAM, we'd also need a way to localize in a prebuilt SLAM session so that users can position themselves in a space over time (days, weeks, months). We'd love to do some demos of Kimera and ROS2 Navigation with integration guides and such.

Does your lab plan on supporting / maintaining this project for the immediate future?

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Hi @SteveMacenski,

Yes! Actually, we are working on making Kimera a multi-robot pipeline.
Right now, we only support loop-closure detection and pose-graph optimization in Kimera-VIO which uses Kimera-RPGO.

A full-fledged re-localization pipeline with map serialization and so on seems to be further in the future though. Perhaps, the quickest way would be to use maplab.

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@ToniRV
When will Kimera-Multi opensourced？

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

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Just checking in, is this implemented or do we need to use something like DBoW2 for place recognition and then pull the corresponding transform? Any other easier way to do this in Kimera RPGO?

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