relative pose error 썸네일형 리스트형 [SLAM][En] Errors and Jacobian Derivations for SLAM Part 2 7. IMU measurement error In order to obtain the IMU measurement error, you must first know about the IMU preintegration technique and error-state modeling. The following figure expresses the overall IMU measurement error-based optimization process. The overall IMU measurement error-based optimization process, with detailed explanations and color highlighting added for better understanding, is as.. 더보기 [SLAM][En] Errors and Jacobian Derivations for SLAM Part 1 1. Introduction This post explains the definition of various errors used in SLAM and the Jacobian derivations for nonlinear optimization. The errors covered in this post are: Reprojection error \begin{equation} \begin{aligned} \mathbf{e} & = \mathbf{p} - \hat{\mathbf{p}} \in \mathbb{R}^{2} \end{aligned} \end{equation} Photometric error \begin{equation} \begin{aligned} \mathbf{e} & = \mathbf{I}_{.. 더보기 이전 1 다음
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