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?
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.
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?