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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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Studying VINS-Mono #332

Open nych9811 opened 4 years ago

nych9811 commented 4 years ago

Hello! I'm studying VINS-Mono which you studied. During studying, I got some questions from your paper.

You wrote lots of frames like 'body frames', 'world frames', 'local frames'.

I can't understand these words exactly. Can you tell me what are these?

Please help me!

Thanks.

xieqi1 commented 4 years ago

world frames : Generally，we fix the first frame as the origin of the world body frames : for example the image is in the camera frame, here, camera frame is the body frame of the image, the same as imu