Hi,
I have a question about the jacobian derivation of the depth error function in this paper:
Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
My derivation is presented below:
I did this in my code, but it doesn't work.
I don't find any material about the derivation of this jacobian. Could you help me check this derivation?
I even implemented it using AutoDifferentiation, but it doesn't work.
Hi, I have a question about the jacobian derivation of the depth error function in this paper: Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
My derivation is presented below:![Screenshot from 2021-05-05 01-07-05](https://user-images.githubusercontent.com/22729258/117084112-398c3680-ad3e-11eb-80e2-24a2a653c62a.png)
I did this in my code, but it doesn't work. I don't find any material about the derivation of this jacobian. Could you help me check this derivation? I even implemented it using AutoDifferentiation, but it doesn't work.