[TaylorAlexander]

Thank you very much! It has been a long time since I've looked at visual slam actually. That Omnidirectional LSD-SLAM looks really nice. Their code repo has been untouched for six years, but this still makes me realize I need to use vslam! I just found this recent work which seems really useful.

https://github.com/ivalab/gf_orb_slam2

I feel like vslam could be the the first step in a post-processing pipeline that would reduce a lot of the computational complexity of solving large maps. Once I can easily make large maps I can build simulated environments and use those for training an agent.

Thanks again for the tips!