Jacobians in Section III-B(Preintegrated Odometric Constraints)

izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping

https://github.com/izhengfan/se2lam

MIT License

404 stars 108 forks source link

Jacobians in Section III-B(Preintegrated Odometric Constraints) #11

Closed AHzZ123 closed 4 years ago

AHzZ123 commented 5 years ago

I'm confused about the jacobian calculation in Section III-B(Preintegrated Odometric Constraints), could you please write down the whole calculation process for me? Thank you very much!

izhengfan commented 5 years ago

Pls indicate which line you are confused about.

AHzZ123 commented 5 years ago

2019-10-21 09-43-09屏幕截图

izhengfan commented 4 years ago

I guess only the first line might be confusing, here is how it works

AHzZ123 commented 4 years ago

Got it, thanks!