ydsf16 / aruco_ekf_slam Goto Github PK
View Code? Open in Web Editor NEWArUco-based EKF-SLAM.
Home Page: https://zhuanlan.zhihu.com/p/45207081
License: GNU General Public License v3.0
ArUco-based EKF-SLAM.
Home Page: https://zhuanlan.zhihu.com/p/45207081
License: GNU General Public License v3.0
博主您好,感谢博主的工作并开源,我最近在学习EKF相关的知识,你的文章和代码是一个很好的学习材料。但是在我尝试运行代码的时候,发现aruco marker无法成功检测, 我尝试了
1.OpenCV-3.4.15 + contribute模块;
2.OpenCV-3.4.15-contribute扣出aruco模块单独编译成库。
3.OpenCV-3.1.0 + contribute模块;
结果均是能编译成功,但是无法检测到markers。 想咨询一下博主aruco 相关部分有参数的变动吗?
另外,我想咨询一下,知乎文章中,公式(18),求解\Sigma_{mm}这里为什么要乘一个\Sigma_\xi?
我的理解是\Sigma_{mm}是新加入的地图点对新加入的地图点的求导,而\Sigma}_\xi是原状态量与地图点的协方差,不太明白他们之间有什么关系。
谢谢博主,期待博主的回复。
aruco_slam_data_qhd1.bag
link is broken.
Thank you for your kind ekf-slam
Hi,
I am a researcher and am looking into landmark-based localization strategies. I would really like an English version of your report if it's possible.
Thanks
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