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View Code? Open in Web Editor NEWSome notes about SLAM, mainly formula derivation
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您好，想咨询下 您之前标定了odom和cam的外参
我看到您在https://github.com/hengli/camodocal项目里面留言了， 您是不是也用的CamOdomCalibration进行里程计和相机的标定？我最近这几天都在尝试用它标定，但是标定出来的结果完全不对，但是我尝试用里程计的数据乘以一个固定外参，输进去，就可以标定出这个固定外参，不知道是不是我的图像的位姿数据太差还是怎么的？ 希望您能帮助我一下，非常感谢！
F_delta矩阵求解？
hi，你好，兄弟知道okvis代码中imu误差传播协方差矩阵F_delta矩阵是如何得到的吗？okvis理解中此处省略了。
// covariance propagation
Eigen::Matrix<double, 15, 15> F_delta = Eigen::Matrix<double, 15, 15>::Identity();
// transform
F_delta.block<3, 3>(0, 3) = -okvis::kinematics::crossMx( acc_integral_ * dt + 0.25 * (C + C_1) * acc_S_true * dt * dt);
F_delta.block<3, 3>(0, 6) = Eigen::Matrix3d::Identity() * dt;
F_delta.block<3, 3>(0, 9) = dt * dv_db_g_ + 0.25 * dt * dt * (C * acc_S_x * cross_ + C_1 * acc_S_x * cross_1);
F_delta.block<3, 3>(0, 12) = -C_integral_ * dt + 0.25 * (C + C_1) * dt * dt;
F_delta.block<3, 3>(3, 9) = -dt * C_1;
F_delta.block<3, 3>(6, 3) = -okvis::kinematics::crossMx( 0.5 * (C + C_1) * acc_S_true * dt);
F_delta.block<3, 3>(6, 9) = 0.5 * dt * (C * acc_S_x * cross_ + C_1 * acc_S_x * cross_1);
F_delta.block<3, 3>(6, 12) = -0.5 * (C + C_1) * dt;
vins-mono理解
vins-mono理解 第7页，a和b结构相似，为什么就多出来1/2*dt项呢？
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