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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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why adding a sub H here? #28

Open yandiyang opened 2 years ago

yandiyang commented 2 years ago

微信截图_20220318182917

gogojjh commented 2 years ago

Hi, you can check our paper: "Greedy-Based Feature Selection for Efficient LiDAR SLAM". In algorithm 1, line 11, we need to add the ``sub Hessian matrix'' to the complete Hessian matrix for a newly selected feature.