Studying VINS-Mono

[nych9811]

Hello! I'm studying VINS-Mono which you studied. During studying, I got some questions from your paper.

You wrote lots of frames like 'body frames', 'world frames', 'local frames'.

I can't understand these words exactly. Can you tell me what are these?

Please help me!

Thanks.

[xieqi1]

world frames : Generally，we fix the first frame as the origin of the world body frames : for example the image is in the camera frame, here, camera frame is the body frame of the image, the same as imu