how to judge the pose after icp EKF

hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).

GNU General Public License v2.0

1.27k stars 202 forks source link

how to judge the pose after icp EKF #82

Closed lxlhero closed 5 months ago

lxlhero commented 1 year ago

hello, I would like to judge the pose correction after EKF for each frame, now I use ndt which is quite time-comsuming, could I use the icp distance to do that?