How to compute the measurement noise covariance St for photo loss?

mikh3x4 / nerf-navigation

Code for the Nerf Navigation Paper. Implements a trajectory optimiser and state estimator which use NeRFs as an environment representation

https://mikh3x4.github.io/nerf-navigation/

MIT License

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How to compute the measurement noise covariance St for photo loss? #12

Closed johnnylu305 closed 1 year ago

johnnylu305 commented 1 year ago

Hi, thank you for the great work. In equation 6, there is a measurement noise covariance St. When I check the code here, I did not find it. Is it a identity matrix?

johnnylu305 commented 1 year ago

I checked the paper again. It is identity matrix.