Question about jacobian calculation in edge and surface cost function

wh200720041 / floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

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Closed undefinedzero closed 4 years ago

undefinedzero commented 4 years ago

Hi, I am confused about the jacobian calculation in edge and surface cost function, is there any related paper or documents explaining that? Thanks!

wh200720041 commented 4 years ago

Hi @undefinedzero

You may find the calculation from the below link