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Orb_slam2 + autoware

I am working on a project that indoor navigation with monocular camera only and then I found this wonderful software.

After reading the Manual and Readme, it seems that autoware is available only with the pointcloud map data created by LIDAR scan. Am I correct? Is it possible to navigate using 3D (maybe sparse) pointcloud map data created by monocular camera with ORB_SLAM2?

Thanks for your attention to this matter.