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PetWorm
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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
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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
零速修正可以减缓后续的发散,因为可以修正IMU零偏