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why _J_R_Biasg isnt same as formula (69) in paper ? #7

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chennuo0125-HIT opened this issue Mar 22, 2022 · 0 comments

chennuo0125-HIT commented Mar 22, 2022

VI_ORB_SLAM2/src/IMU/IMUPreintegrator.cpp

Line 112 in 1964f44

_J_R_Biasg = dR.transpose()*_J_R_Biasg - Jr*dt;

JRg isnt same as formula (69) in paper as follow picture:

correct should be ?

_J_R_Biasg = dR.transpose()*Jr*dt

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