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bytedance / SchurVINS

[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
GNU General Public License v3.0
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扩增后相机状态对状态向量的导数 #13

Closed Eastwind-17 closed 2 months ago

Eastwind-17 commented 3 months ago

image J的第一个元素，按照MSCKF的推导应该是旋转外参，这里为什么是单位阵呢

ouguangjun commented 2 months ago

因为msckf扩的是相机的状态，而schurvins直接扩的是IMU的状态