-
博主您好,正如您所说的“每次使用卡尔曼迭代完成之后,都需要将最终得到的误差,重新带回到预测的位置、速度、方向中消除掉这个误差”,为何在消除偏差的过程中使用的是加号而不是减号,如:velocity_ = velocity_ + X_.block(INDEX_STATE_VEL, 0);
我还有一个问题:在SO3Exp函数中,将等效旋转矢量转换为旋转矩阵,为何不是常见的罗德里格斯公式。
我是才开始…
-
Hi, @RuanJY
Thanks for your nice work!
I'm curious is there an advanced version that fusion with imu?
There is no distortion correction in the code, and distortion can greatly affect accuracy, ri…
-
求问一下,在ch3 eskf.hpp文件中,ObserveSE3函数里对偶拉角求倒不应该是Jl(-theta)吗?为什么会是单位阵,暂时没有高博的新书可以参考,有人能解释下公式3.66是怎么推导的吗
-
This doesn't directly relate to the manif library, but I think it fits into here because Joan has written/contributed to both these papers and other people stumbling across this might find an answer u…
-
Hi, @TouchDeeper
May I ask how the wheel speedometer based on ESKF is derived? Do you have any reference materials?
-
Thanks for your great job! I test fast lio2 on KITTI dataset and get nice results.
But I have a question about discrete model when I read fast lio paper.
![image](https://user-images.githubusercon…
-
[24.08.2023 12:09:16] jasiu-rozowyczlowiek:
[24.08.2023 12:09:16] jasiu-rozowyczlowiek
-
I've been stuck on this problem for a few weeks now. I'm developing an error state Kalman filter and using the output of this sim as test data.
It never estimates the errors 100% correctly, so I s…
-
When I `make` in slam_in_autonomous_driving/build, I get a error about gmock. I have install gmock by apt-get and don't know how to do next. Could somebody help me? Thanks!
Here is compilation info…
-
纯属个人观点,不一定对。
Page 39: “我们不必关心IMU的内部测量原因” 这里感觉该用 “原理”?
Page 52: 3.3.2节,这里的RTK设备也适用于普通的GNSS信号,不知道是否要注释一下?
Page 64: 式(3.36)第四个等号,delta_theta^后面的那个a好像该加个波浪帽?
https://github.com/gaoxiang12/slam_in_…