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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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Some tips about the propagate euqation #28

Closed Gatsby23 closed 3 years ago

Gatsby23 commented 3 years ago

Hi, I'm a fresh man to the robocentric problem.I'm confused about the combination function after the IMU propagate. Could you please give me some advice about the code list below ? Screenshot from 2021-10-24 13-45-36 Is there some paper about this equation?

Gatsby23 commented 3 years ago

I don't know why we need the f1~f4 to estimate the dp, dv.

huaizheng commented 3 years ago

Here we use preintegration to compute the state increments, dp and dv, and you can find their corresponding equations from [20] cited by our iros paper.

Gatsby23 commented 3 years ago

Here we use preintegration to compute the state increments, dp and dv, and you can find their corresponding equations from [20] cited by our iros paper. Thank you very much. I'll read it more carefully