Are you interested to use our implementation in an academic work ! Thanks for citing the following paper:
@Article{s23010516,
AUTHOR = {Soliman, Abanob and Hadj-Abdelkader, Hicham and Bonardi, Fabien and Bouchafa, Samia and Sidibé, Désiré},
TITLE = {{MAV} Localization in Large-Scale Environments: A Decoupled Optimization/Filtering Approach},
JOURNAL = {Sensors},
VOLUME = {23},
YEAR = {2023},
NUMBER = {1},
ARTICLE-NUMBER = {516},
URL = {https://www.mdpi.com/1424-8220/23/1/516},
ISSN = {1424-8220},
DOI = {10.3390/s23010516}
}