Development v2.2 - Zero Velocity Update

[rpng-guest]

Key Changes

• Zero velocity update logic detection and update based on chi2 with the current IMU readings
• Standstill initialization if zero velocity update is enabled (great for if you need a pose estimate as soon as possible)
• Support for using stereo on the KAIST Urban Dataset
• Some matlab utilities for converting from their groundtruth format
• Some additional collected datasets of driving with the sensor mounted on a car

Example KAIST Trajectories

Black is dataset's groundtruth, blue is OpenVINS with zero velocity update enabled.
The launch file used can be found in ov_msckf/launch/pgeneva_ros_kaist.launch.

Urban28:
-> 11,212 meters in length
-> 2.55 degrees orientation RMSE
-> 19.03 meters position RMSE (0.16% traj error)

Urban39:
-> 10,678 meters in length
-> 1.47 degrees orientation RMSE
-> 12.36 meters position RMSE (0.12% traj error)

Should fix issue #56, #57, #67, #77