PreIntegration corrected by the change of bias in the paper????Can not understand the Jaccobian .......I think they maybe wrong.

[GONGXI1994]

[GONGXI1994]

Foster give the full derivation of the Jacobians, however your paper seems different from what he has done, and It would be very kind if you provide the reason why you can simply get the Jacobian from the F...... @shaojie @dvorak0 @WayneTimer @groundmelon @xuhao1

[qintonguav]

Calculate F is tough. Jacobian is directly part of F, even in Foster's formulation.

[GONGXI1994]

I konw the F is constructed by the jaccobians ,but I do not think the "error state " jaccobian is the same jaccobian that used to correct the preIntegration when the bias change...... @qintonguav

[gavinfan1]

I also can not understand the Jaccobian here. Can you give more information about the jaccobian ? I can not find the Foster's formulation. Can you give me the network link? @qintonguav @GONGXI1994

[GONGXI1994]

paper: On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

[struggleforbetter]

I'm also puzzled with this problem.The jaccobian should be the measurement change with the bias change. Why is it this? Are the two Jaccobians same ?

[lywcn]

I am also confused here. any updates?