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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 #241

Closed jian-li closed 1 year ago

jian-li commented 1 year ago

Hello @ziv-lin, thank you for you nice work! I have some problem about stability of the i-eskf. I tried you new kalman gain calculation method on other fusion framework, but has numeric problems. I note that there are some inverse calculation of martrix. So I wonder if there are things to note to get good numeric stability, such as the method can only used in lidar-inertial odometry etc. Thx~

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.