This project forked from turtlezhong/msckf_mono
VIO_Learning. A simple implement of mono msckf in https://github.com/TurtleZhong/msckf_mono/tree/master/src/msckf_mine_1.0
一步步深入了解MSCKF网址: www.xinliang-zhong.vip/msckf_notes/
这本来是很早以前自己写的一个mono版的msckf. 主要懒得开一个新分支了,就借用了一下.下面对文件夹下的东西说明一下:
msckf_vio.jpg S-MSCKF高清图
Quaternion kinematics for the error-state Kalman filter.pdf 一本自己推导注释过的书
src/msckf_mine_* 都是很早以前原来自己写的,忽略就好
src/msckf_vio_note 这个是开源版本S-MSCKF的注释版本代码,原版在这里
如有问题直接在这个repo下的issues下面提问就好了. 或者私聊[email protected]
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