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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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about processModel function #59

Closed Masterzhoujun closed 5 years ago

Masterzhoujun commented 5 years ago

why update state_server.state_cov use: MatrixXd state_cov_fixed = (state_server.state_cov + state_server.state_cov.transpose()) / 2.0; state_server.state_cov = state_cov_fixed; any reference paper for this? THX

ke-sun commented 5 years ago

It is just a trick to ensure the covariance matrix is symmetric. =)