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gaoxiang12 / slambook-en

The English version of 14 lectures on visual SLAM.
GNU General Public License v3.0
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Duplicate text #43

Open lhruby opened 3 years ago

lhruby commented 3 years ago

Chapter 9, page 240, following eq. 9.12, the text from above the equation appears a second time.

After understanding the Jacobian derivation, the rest is the same as ordinary graph optimization. In short, all pose vertices and pose edges constitute a graph optimization, which is essentially a least-squares problem. The optimization variable is the pose of each vertex, and the edges come from the pose observation constraints. Let E be the set of all edges, then the overall objective function is

gaoxiang12 commented 3 years ago

Thanks, fixed in the recent commit.