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r2live-cc_comments's Introduction

r2live-CC_Comments

Introduction

本仓库是 r2live 的详细中文注释。

r2live 由 FAST-LIOVINS-Mono 组合而成:

  • FAST-LIO 有两版代码,第一版代码在C++实现上更加简单易懂,r2live 中使用的也是第一版 FAST-LIO,因此利用 r2live 学习 FAST-LIO 也是一个不错的选择。

  • 关于VINS-Mono的详细中文注释,你可以参考我的另一个仓库:VINS-Mono-CC_Comments

Done

  • 对整体代码框架进行详细注释
  • 详细看完 FAST-LIO 部分代码,推导I-EsKF公式,和代码可以对应
  • 详细看完 LIO 和 VIO 结合部分的代码
  • 关于 LIO 部分的 EsIKF 公式推导,可见我的系列博客:Kalman Filter in SLAM 系列文章

TODO

  • 整理 ESIKF 公式推导成电子版并发布 See Done

Acknowledgments

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