Relative gyro propagation quaternion dynamics

vectr-ucla / direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

MIT License

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Relative gyro propagation quaternion dynamics #3

Closed CogmanCVN closed 2 years ago

CogmanCVN commented 2 years ago

Hi, Thank you for your excellent work! my question: The implementation of calculating quaternion from gyro measurements in the code(void dlo::OdomNode::integrateIMU()) is inconsistent with that in the paper. Please help me solve it. thank you.