raphael/msckf_vio
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5e9149eacc
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g-spacewhale 5e9149eacc constructed jacobian based on residual: r = z(measurement pix. pos) - h(rho, x_l, x_a) - based on the projection of the feature point into space based on the anchor frame - followed by projection onto H_rho nullspace; works well enough
2019-05-21 14:50:53 +02:00
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msckf_vio constructed jacobian based on residual: r = z(measurement pix. pos) - h(rho, x_l, x_a) - based on the projection of the feature point into space based on the anchor frame - followed by projection onto H_rho nullspace; works well enough 2019-05-21 14:50:53 +02:00