13 Dec

Purpose This blog is to pose optimization results of the IMU erro function in Tsangkai's project. In this test, I try to use simulation data to test the "imu_error" function to examine whether the code is right or not to perform optimization function. Input and output There are two tests. ...

30 Sep

gitlablink Frame Introduction Body frame: IMU Coordinate Cam frame: Camera Coordinate World frame: The firt frame of IMU frames Navigation frame: ENU \((0,0,-9.81)\) Core Idea 1. Essential Members in IMU and Camera: imu_acc/imu_acc_bias/acc_noise_sigma/acc_bias_sigm...

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