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Hello, thank you for your work. I have generated a map using an rgbd camera (Realsence D435i). Now, I want to use this map for positioning on my mobile phone (the phone does not have the ROS environment or depth information). How should I do it? Are there any relevant tutorials? Basically, I just need to input the image from the mobile phone camera and obtain the current position and orientation. I've read other posts. Is the process of positioning actually loop closure detection? Advance thanks.
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