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PetWorm / LARVIO

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
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零速修正对精度的提升大吗，零速修正只能对当前时刻和前一时刻进行约束，无法对累计误差进行修正。 #17

Open RobotYi1 opened 1 year ago

zhh2005757 commented 1 year ago

零速修正可以减缓后续的发散，因为可以修正IMU零偏