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boxuLibrary / drt-vio-init

The official repository of our CVPR2023 paper "A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization".
GNU General Public License v3.0
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旋转矩阵最小特征值问题 #7

Open GitZhaoo opened 10 months ago

GitZhaoo commented 10 months ago

关于矩阵M的最小特征值闭式方程如下： image-20231114144535479 想问下您这个公式出自哪里，是否是精确解？谢谢！

HeYijia commented 10 months ago

These equations come from the supplemental material to "direct optimization of frame-to-frame rotation". You can download it from the attachment. Laurent_supplementary_material.pdf

GitZhaoo commented 10 months ago

好的，谢谢贺博