Closed Gatsby23 closed 3 years ago
In the implementation, we treat local gravity as a vector with constant magnitude (e.g., 9.8), therefore, we actually estimate a unit (directional) vector of local gravity. To get the value for state transition matrix computation, we need to multiply the (error) state of local gravity with its magnitude.
In the implementation, we treat local gravity as a vector with constant magnitude (e.g., 9.8), therefore, we actually estimate a unit (directional) vector of local gravity. OK, Thank you very much! The last question is: What is the difference between R-VIO with ROVIO. I'm a freshman to this area and haven't touch the beauty of your F equation. Both of you are the Robocentric formulation.
There are the following differences between Rovio and R-VIO: 1) Rovio uses raw IMU measurements to directly update the pose of global frame, while R-VIO uses relative motion to incrementally update the pose of global frames (i.e., through the composition); 2) Rovio implements an EKFSLAM-based formulation (i.e., jointly estimates the landmarks), while R-VIO implements an MSCKF-based formulation (i.e., pose-only VIO); and most importantly 3) R-VIO has been proved to have invariant observability properties (i.e., its unobservable subspace is constant) which significantly improves the estimation consistency under generic motion.
There are the following differences between Rovio and R-VIO: 1) Rovio uses raw IMU measurements to directly update the pose of global frame, while R-VIO uses relative motion to incrementally update the pose of global frames (i.e., through the composition); 2) Rovio implements an EKFSLAM-based formulation (i.e., jointly estimates the landmarks), while R-VIO implements an MSCKF-based formulation (i.e., pose-only VIO); and most importantly 3) R-VIO has been proved to have invariant observability properties (i.e., its unobservable subspace is constant) which significantly improves the estimation consistency under generic motion.
Thank you very much~ 真是特别好的工作,我将再仔细看看代码和论文,体会当中具体的不同之处
Hi, The paper shows that the F Matrix is like this: But the code is multiplied with the mnGravity. What does it meaning?