Comments (3)
gaoxiang12
commented on August 13, 2024
可以，如果RTK和激光同步，那么就在观测方程中添加几行对R和T的观测即可，推导一下相应的雅可比阵。RTK单独观测也可以。
不过原版FastLIO2基于MTK来表达状态变量，改起来可能麻烦一些。
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insistyxj
commented on August 13, 2024
好的 谢谢高博。我之后改入看一下效果。
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OliverShaoPT
commented on August 13, 2024
好的 谢谢高博。我之后改入看一下效果。
我使用gtsam后端融合RTK数据，在SLAM前端不退化的情况下，效果还可以。老哥在观测方程中融合效果如何呢？
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Related Issues (20)
- 关于NCLT数据集轨迹真值的问题 HOT 1
- Computation and memory usage surge after running for a long time (10-20 mins)
- Error when saving map (trajectory) HOT 1
- Meaning of valid_corr in laser_mapping.cc
- Maybe a typo in updating cov_acc_
- 将点云存入ivox后，搜索到对应的点云后，返回对应点在原始点云中的索引 HOT 1
- AA-IEKF
- 只能在线运行固态雷达数据吗
- z轴漂移 HOT 1
- 请问有没有相应的ivox使用手册
- ba收敛性讨论
- 作者你好，我使用你的项目过程中将velodyne替换成Robosense的激光雷达，同时也参考了LiDAR_IMU_Init项目进行了改写。但还是报了以下错误，不知道如何修改，麻烦指导一下，谢谢。 HOT 2
- Do you have any plans to make rosbag public without requiring specific access right? HOT 2
- 疑似BUG HOT 1
- 对fastlio2和fasterlio的近邻搜索发现ivox搜索时间长 HOT 4
- 关于bags数据访问权限 HOT 1
- Anderson Acceleration for on-Manifold Iterated Error State Kalman Filters论文中是否存在笔误？
- 关于数据包bag无法访问的问题 HOT 4
- 加入RTK/GNSS数据 HOT 2
- IVox第一帧点云坐标系问题 HOT 3
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