question on solving iterative reighted least-squares about m-loam HOT 1 CLOSED

Regarding your question: ''Is there a omitted step that the residual in equation (2) is transformed into a function with respect to delta x. Then the state x is calculated with optimized delta x and an initial guess.'', it should be noted that equ.(2) is the least-squares formulation of x, and this paper does not explicitly write out the formulation on delta x.

This paper states that: ''2) is simplified as an iterative reweighed least-squares problem. Iterative methods such as Gauss-Newton or LevenbergMarquardt can offen be used to solve this problem.''. The GN method will further formulate equ.(2) as a minimization problem w.r.t. the variable delta x. Please refer to Prof. Barfoot's book: State Estimation for Robotics (http://asrl.utias.utoronto.ca/~tdb/bib/barfoot_ser17.pdf), Section 4.3.1 for details.

Thanks!

from m-loam.