APRIL-ZJU / lidar_IMU_calib

[IROS 2020] Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
GNU General Public License v3.0
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Why does covariance need to be >0.25 in inertial_initializer.cpp? #62

Open dorisbwang opened 1 year ago

dorisbwang commented 1 year ago

From my understanding, a lower covariance indicates a better and less noisy dataset, but the code here seems to require more noisy data in order to run? I'm very confused as to why the bound is set like this. Any explanation would be appreciated!

Screenshot 2023-06-14 at 4 52 32 PM