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For different definitions of cheap though.

While the pure gyro/accelerometer stuff does suffer from major problems the improvements in SLAM using just cameras in the last 15 years are insane.

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Visual SLAM on a rocket would be wild. The frame rates you'd need at those velocities are brutal though — feature tracking falls apart fast when your entire visual field is changing at hundreds of m/s. Drones are the sweet spot where camera-based nav really shines.

That's because for short term they are really good, for the longer term the drift is too large so you will need many layers of sensors with different characteristics.

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