We read every piece of feedback, and take your input very seriously.
To see all available qualifiers, see our documentation.
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
高博，这个图里表明了4.44是先用变化后的噪声修正了预积分增量，然后用修正后的预积分增量来对gyro的零偏求雅可比 我想问的是，假如我就用4.39a的式子来表示残差对bg的雅可比，那么最终的优化能优化bias吗？还是说由于不考虑bias对旋转的修正(即假设bias不变)，会导致最终优化出来的状态量中，bias也是恒定不变的？
The text was updated successfully, but these errors were encountered:
No branches or pull requests
高博，这个图里表明了4.44是先用变化后的噪声修正了预积分增量，然后用修正后的预积分增量来对gyro的零偏求雅可比
我想问的是，假如我就用4.39a的式子来表示残差对bg的雅可比，那么最终的优化能优化bias吗？还是说由于不考虑bias对旋转的修正(即假设bias不变)，会导致最终优化出来的状态量中，bias也是恒定不变的？
The text was updated successfully, but these errors were encountered: