lidar-imu initialization

hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)

https://sites.google.com/view/lio-mapping

GNU General Public License v3.0

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Open llpan91 opened 4 years ago

llpan91 commented 4 years ago

I confused with the coarse gravity solver， “ tmp_A = 0.5 I3x3 (dt12 dt12 dt23 + dt23 dt23 dt12); tmp_b = (pl2 - pl1) dt23 - (pl3 - pl2) dt12

(rl2 - rl1) plb dt23 - (rl3 - rl2) plb dt12
rl2 rlb dp23 dt12 + rl1 rlb dv12 dt12 * dt23
rl1 rlb dp12 * dt23;” how to construct the least squares method for gravity ？ thanks for you

hyye commented 4 years ago

narutojxl commented 4 years ago

Hi @llpan91, Do you figure out what is the residual, when calculating the initial global gravity? Thanks a lot !