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Perception
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.. figure:: images/orb_slam.png
   :alt: ORB-SLAM map viewer
   :width: 900

Perception is the stack of estimation and detection components that turns raw sensor data into useful state and measurements.
It combines visual odometry / SLAM, inertial fusion, and learned models where they add clear value.


.. figure:: images/depth_image.png
   :alt: ORB-SLAM map viewer
   :width: 900