Comments (8)
目前的模型和代码不支持平面变化很大的场景,但改起来也不难,首先识别出平面产生变化,然后再新建平面模型
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好的,谢啦,如果把平面约束改成vins on wheel论文中的第二种随机模型,不知道作者有没有测试过呢
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这里使用的就是第二种模型哈,一般不使用确定性约束,除非是该约束精确成立,如恒等式
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好的,谢谢,我看你yaml配置里面配有kaist39文件,请问这边有用kaist39数据集测试过嘛?
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跑kaist数据集还有些问题没空解
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@TouchDeeper 看论文里大部分是认为轮速记坐标系始终处于平面上,虽然地面机器人有地面接触约束,这种假设是合理的,但一般多传感融合系统(本文也是)都是以IMU为参考,把位姿都统一到IMU坐标系下的,因此在车辆行驶平稳,IMU和轮速记外参不变的情况下,能否把假设改为认为IMU坐标系始终在平面上呢?
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@qiaozhijian 嗯嗯,也是可以的,不过优势在哪呢
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@qiaozhijian 嗯嗯,也是可以的,不过优势在哪呢
嘿嘿,可能只是公式更简洁一点。我太能确定残差里又多了一个优化变量(IMU和里程计外参)会造成怎样的影响。
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Related Issues (20)
- 单目+IMU+轮式里程计 HOT 3
- Question about download dataset_viwo datasets from google cloud storage HOT 1
- Relate Paper HOT 5
- Question about calibration of extrinsic between wheel and IMU HOT 1
- Derivation of wheel speedometer based on ESKF HOT 1
- 为什么加入平面优化之后,回到原点的轨迹还是存在Z方向的漂移? HOT 13
- 请问在初始化的时候没有对轮速计的内外参进行初始化吗?而是直接给的初值吗? HOT 3
- 关于Z方向上的漂移有点疑问想请教一下 HOT 5
- 关于添加ZUPT约束的一点疑问 HOT 1
- sophus vision HOT 1
- Worked on Kaist urban dataset?
- ros-noetic and ros2 version HOT 1
- gyroscope bias initial calibration -nan -nan -nan【陀螺仪初始化问题】 HOT 1
- Plane Constraint Problem on OpenLORIS dataset HOT 6
- 一个小疑问,希望能跟作者沟通 HOT 1
- 请问下这个支持kitti数据上跑单目 HOT 3
- 请问数据集有其他下载方式吗?能不能提供一下~谢谢 HOT 1
- 轮速计参数 HOT 9
- 关于轮速计部分的原理 HOT 1
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