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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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Covariance for dynamic initialization #9

Closed Wangxuefeng92 closed 3 years ago

Wangxuefeng92 commented 3 years ago

thanks for your great job on LARVIO！in dynamic initialization，the covariance is not considered for imu_state in LARVIO？ could you have any ideas about the obtian of covariance from your dynamic initialization？

PetWorm commented 3 years ago

Good point. Theoretically, the inverse of the Hessian from dynamic initialization could somehow approximate the covariance. Might try it in the future.

Wangxuefeng92 commented 3 years ago

Thanks for your reply! I tried the inverse of the Hessian from your dynamic initialization. but unfortunately, the Hessian is not full-rank. Could you have any idea for this situation?