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rpng / R-VIO

Robocentric Visual-Inertial Odometry
https://journals.sagepub.com/doi/10.1177/0278364919853361
GNU General Public License v3.0
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About feedback from mapping #10

Closed canyou2014 closed 5 years ago

canyou2014 commented 5 years ago

I have read this paper https://arxiv.org/abs/1903.08636, it is about feedback map point to MSCKF by Schmidt-EKF. If I wan to realize Schmidt-EKF on R-VIO，How should I propagate the covariance matrix PAS?

huaizheng commented 5 years ago

Hi @canyou2014, for such extended problem I recommend you to directly email either me or @goldbattle for discussion, which I think it is better than opening an issue. Thank you.