Comments (1)
作者您好,感谢您的开源工作,这里有一个疑惑,想要向您请教:
根据fast_lio2的论文,更新的方程如下:
在这个项目中,代码中求解方程如下:
solution = K * meas_vec + vec - K * Hsub * vec.block<6, 1>(0, 0);
相比fast_lio2没有Jk预测方程的雅可比矩阵,请问这里是有什么不一样吗,为什么这里没有Jk。谢谢!
论文中有写,第一次是I,后面迭代更新就好了.
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