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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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GNSS intergration #6

Closed cshang412 closed 6 months ago

cshang412 commented 6 months ago

i think this is an amazing work, but i am new to VIO field, my math is so poor , could u tell me how to intergartion rtk gnss to this project ? some example or demo will be amazing , very appreciate!

frank-fyf commented 6 months ago

gnss is treated as a observation of system, and then the observation is employed to construct residual model. finally, the residual model is used to update ekf.