A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.
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"Are the Numerical Effects of Zero-Velocity Update (ZUPT) Constraints on Relative Rotation the Same When Using Quaternions and Rotation Matrices? #18
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arenas7307979 opened 10 months ago
Hi, 邱博您好
请问zupt相对旋转上约束, 采用四元数与旋转矩阵数值效果一样嘛？ 可以替换吗?