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hku-mars / FAST-LIVO

A Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry (LIVO).
GNU General Public License v2.0
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how to judge the pose after icp EKF #82

Closed lxlhero closed 4 months ago

lxlhero commented 11 months 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?