Comments (1)
- In the world-centric formulation, the gravity in global frame is usually treated as a constant vector [0,0,9.8] because the estimation also runs in the same frame. While, in the robocentric formulation the estimation now runs in a robot (local) frame, and thus the gravity in local frame is not constant and we do not know its exact value. If you only rotate the global gravity to local, the uncertainty of local gravity itself has been ignored. So the first reason to put the gravity into the state vector is to take into account this part of uncertainty. The second and the most important reason is that the robocentric VINS formulation achieves invariant observability properties after adding the gravity into the state vector, that, in addition to the first reason, further improves the estimation consistency. Please refer to our paper for the details.
- In the code, the gravity vector is treated as a unit vector, because its magnitude is known as 9.8. Also, I re-normalize the updated gravity vector to make sure that its norm is 1. So, there should be no convergence issue about it.
from r-vio.
Related Issues (20)
- About the algorithm‘s harmful and unbelievable drifting when it worked in several static situations below HOT 6
- Please excuse me. Some questions about algorithmic equation deducing and a certain experiment operation details. HOT 2
- Running R-VIO on the Kitti dataset HOT 9
- Are the urban dataset available?
- No visualization is seen in RVIZ HOT 3
- Question about the Ω(w) Matrix. HOT 1
- Question About the F matrix in code. HOT 4
- Some tips about the propagate euqation HOT 3
- Question about the Integration estimate HOT 5
- 关于初始化问题的了解 HOT 1
- run error ubuntu18.04 HOT 2
- Question about the update. HOT 2
- Question about the urban driving dataset
- PUBLISH RATE SLOW OF VIO(px4_realsense_bridge_node)
- Question about the trick R-VIO used in the real environment. HOT 2
- Question about the IMU Propagation using Robocentric formulation HOT 22
- No output
- How to save a .txt track
- How to get a dataset?
- How to install Eigen Lib?
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from r-vio.