Question about measurement update

PetWorm / LARVIO

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

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Question about measurement update #6

Closed yonghengdelu closed 3 years ago

yonghengdelu commented 3 years ago

Hello,

Thanks for your great work! I saw you update MSCKF feature/SLAM feature/new SLAM feature in one step. Will it perform better if we update these features step by step?

Best, Oliver

PetWorm commented 3 years ago

sorry for the late respond. theoretically it is suboptimal to update correlated measurements separately