sjtu-visys / ground-fusion Goto Github PK
View Code? Open in Web Editor NEWGround-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
License: GNU General Public License v3.0
Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases (ICRA2024)
License: GNU General Public License v3.0
@sjtuyinjie @SJTU-ViSYS
Thanks for your open source code!
Now I am going to compile it on arm, but I have encountered some errors. I guess it is the problem of sophus version, or can you help me to see what is the problem?
The current version of sophus I use is 1.22.10.
Thank you very much!
您好,感谢您开源如此具有意义的工作。
dP_imu = dP_imu + dt * Vs[j] + 0.5 * dt * dt * un_acc;
dP_wheel[0] -= dt * Vs[j][1];
dP_wheel[1] += dt * Vs[j][0];
dP_wheel[2] -= dt * Vs[j][2];
我暂时未能理解 dp_Wheel dp_imu 所表达的涵义,向请教一下dp_wheel dp_imu代表什么意思呢?
另外想确认下,上述图片箭头所指的值是否 就是对应的IMU位置预积分值 以及 轮速的位置预积分值。
希望不吝赐教呀!
非常感谢你的工作,我想请教一下您的代码里面把gnss的订阅注释了,并且我没有发现处理gnss异常值检测的地方,可能是我看漏了,可以指点一下gnss异常值检测的代码在哪个地方吗?
Thank you for your work. When will the code be released?
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