[CVPR2024] SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
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请问一下， 针对Propagation and Augmentation中Φ 和Q，论文中的公式是如何推导出来的 #16
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sandstone556 opened 1 month ago
比照论文中的做法，Quaternion kinematics for the error-state Kalman filter，似乎只能得到 $\Phi = I_{15 \times 15} + Fdt$
$Q = GQ_{I}G^\top dt^2$