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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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normal equation in EstimateGyroBias() #73

Open narutojxl opened 4 years ago

narutojxl commented 4 years ago

Hi, author, The similar question issues/44. 2020-07-14 15-01-11屏幕截图 I don't figure out why the code is written like above. It seems that the code in EstimateGyroBias() is the approximate expression. But whether there missing a minus in the right side of the normal equation and the extrinsic R_bl is not seen? Thanks for your any reply !