diff options
| -rw-r--r-- | changes.txt | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/changes.txt b/changes.txt index 3ed8ac9..3749448 100644 --- a/changes.txt +++ b/changes.txt @@ -17,6 +17,10 @@ initial depth from the reflection information. Better initialization should give better results, because we can decrease P0 and rely on vision more. According to Davison, setting P0 properly is important. +Using the intitial depth estimate we get some simple sanity checks: is the +feature above the water? Is the feature a reasonable distance away (greater than +some minimum distance, closer than some maximum)? + Use least square to determine initial depth. Set the height measurement using the rotation of the body, the approximate @@ -31,6 +35,8 @@ According to Davison, measurements near the center of the image (the principal point) are more accurate than those near the edges. Thus, we can adjust R according to the distance. -Using the intitial depth estimate we get some simple sanity checks: is the -feature above the water? Is the feature a reasonable distance away (greater than -some minimum distance, closer than some maximum)? +Junho had the ability to handle both reflection features and just monocular +points. I am adding the ability to promote a monocular point to a reflection +feature. This will be fit into the EKF framework quite nicely by just altering +the measurement model used during the filter update. + |