blob: 1148869aa7c1d1b69ae9fce58be1ae7c6d298aa6 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
|
Modify body Jacobian F. Junho has an identity in the db/db term, which is not
consistent with the handling of X and V.
Update covariance based on known estimate (GPS aided)
Dynamically adjusted state size. We can add and delete features as needed.
Junho's code requires a fixed state size.
Treat measurements as independent. Compute S_i individually for each measurement
and compose S as block diagonal for speed improvement.
Use quaternion reflection instead of Householder Transformation for determining
the predicted reflection measurement.
Below here is not yet implemented:
Add initial reflection view.
Junho sets all features to a fixed initial depth e.g 10m, 20m. I calculate the
initial depth from the reflection information. Better initialization should give
better results, because we can decrease P0 and rely in vision more.
|
