hello,
your paper about probabilistic combination of points and line features inspire me very much.
but while I read the paper, I got confused about how to calculate the weight of cost function, in paper the equation is:
According to my understanding,
is the jacobians to the observatons,
so for point feature, the jacobians is:
as for line segment feature, I get an strange 3*2 matrix, but it's not compatible with equations(3).
I must mistake something.
but I can't get any inspiration from your commented "StereoFrameHandler::optimizeFunctions_uncweighted()" function.
can you show how to derive it?
hello, your paper about probabilistic combination of points and line features inspire me very much. but while I read the paper, I got confused about how to calculate the weight of cost function, in paper the equation is:
According to my understanding,
is the jacobians to the observatons,
so for point feature, the jacobians is:
as for line segment feature, I get an strange 3*2 matrix, but it's not compatible with equations(3).
I must mistake something.
but I can't get any inspiration from your commented "StereoFrameHandler::optimizeFunctions_uncweighted()" function.
can you show how to derive it?