LM algorithm problem in LBA

rubengooj / pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.

GNU General Public License v3.0

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Closed hitzhang closed 5 years ago

hitzhang commented 5 years ago

    H(i,i) += lambda * H(i,i) ;

why there is lambda * H(i,i) in LM algorithm?

and why the lambda multiply by10 if the error decreases?

the result is not good.