For details, please refer to：https://zhuanlan.zhihu.com/p/45207081
Dataset：https://pan.baidu.com/s/1EX9CYmdEUR2BJh7v5dTNfA
Opencv 3.1, Eigen, ROS
STEP 1. Download the repository to your ROS workspace：catkin_ws/src
STEP 2. Make：catkin_make
STEP 3. Run launch: roslaunch aruco_ekf_slam slam.launch
STEP 4. Play a rosbag: rosbag play aruco_slam_data_qhd1.bag -r 5