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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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i-eskf stability #232

Closed jian-li closed 1 year ago

jian-li commented 1 year ago

Hi, thank you for your great work! I have some problems about i-eskf numeric stability. I tried your formula of Kalman gain to speed up calculation on visual related task, but it is not stable, I wonder if there are some tricks to calculate i-eskf iteration. Thanks for your help.

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.