为什么不需要滑窗和边缘化呢

[Torchmm]

您好，我运行了您的代码库，效果很不错，但是如题，为什么您的紧耦合方案不需要滑窗和边缘化呢？

[zijiechenrobotics]

Thank you for trying this work! This work uses a fixed-lag smoother with a single moment, equivalent to the IESKF. One can simply consider that the marginalization constraint combined with the IMU integration generates the IMU constraint in MAP estimation.

[Torchmm]

thanks for your reply!