search

ucla-vision / xivo

X Inertial-aided Visual Odometry
Other
851 stars 120 forks source link

Gravity #72

Closed poudyalbot closed 1 year ago

poudyalbot commented 2 years ago

Is gravity vector also estimated as described in the paper. What is the purpose for estimating gravity. Thank you

stephanietsuei commented 1 year ago

Our estimate of the gravity vector is a little bit different than in the original paper. We estimate the direction, Wsg, but not the magnitude. The magnitude of gravity is whatever the magnitude of the vector gravity in the .cfg files.