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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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ZUPT #2

Closed Wangxuefeng92 closed 4 years ago

Wangxuefeng92 commented 4 years ago

in zupt-update. the residual is about "prev - cur", but the jacobian is about " cur - prev", is there a mistake?

PetWorm commented 4 years ago

hi, i think there is no mistake. The residual is the difference of estimated error between two consecutive static time. You can check our CJA paper, section 3.2. Feel free to comment if you have further questions.

Wangxuefeng92 commented 4 years ago

thank you for reply! I made a mistake about the estimate-parameter and meaturement-parameter. It is worth mentioning that larvio is a remarkable project I can speak of ！！！！

PetWorm commented 4 years ago

Thanks :D, then I'll close this issue.