Question about Jacobian of state augmentation?

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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Question about Jacobian of state augmentation? #115

Closed FanaticsKang closed 3 years ago

FanaticsKang commented 3 years ago

I have a question about your Jacobian in MsckfVio::stateAugmentation. The derivative of new camera pose with repect to the translation bewtween camera and body seems more accurate as the following:

J.block<3, 3>(3, 18) = R_w_i.transpose();

Looking forward to your rely.

ke-sun commented 3 years ago

I think you are right. Thanks for noticing. Did you have a chance to try the corrected Jacobian? Just wondering if it helps in improving the estimation accuracy.

FanaticsKang commented 3 years ago

I can't find any difference by EuRoC. I think the default covariance is too small or the calibration error is limited. If msckf is used in our project, I will let u know its performence.