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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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BALM 1.0 Formula Question? #34

Closed qpc001 closed 1 year ago

qpc001 commented 1 year ago

APPENDIX A.

  1. How the \bar{p} to 1/N(p_i) ?
  2. Why ignore u_k to p_i partial derivative ？

image

huanglilong commented 1 year ago

@qpc001 check here. image

Zale-Liu commented 1 year ago

@qpc001 check here. image

Yes, the answer is right.

qpc001 commented 1 year ago

Thanks😄