Gavin Gao comments

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                                            Gavin Gao

question about the measurementH of VO

presentation of the algorithm: https://www.researchgate.net/publication/353330937_IMU_and_VO_Loose_Fusion_based_on_ESKF

question about the measurementH of VO

> @cggos Are you sure it is bn instead of bm? @zzhh00 you can reference the sketch below which the code based on or the [presentation/publication](https://www.researchgate.net/publication/353330937_IMU_and_VO_Loose_Fusion_based_on_ESKF) in ResearchGate ![MSF-2](https://user-images.githubusercontent.com/5089357/136643658-80cafd11-aba1-40b0-8bd6-e861e0292dae.jpg)

question about the measurementH of VO

@zzhh00 * the timestamp m is the moment when the imu is initialized * the Tc0cm refers to the measurement in camera frame, and we need to transform it to...

2D平面约束

@improve100 如果可以的话，最好提供下详细的算法文档

wheel odometer method

maybe some months later. @SeungRyeol Are there any bag format dataset including the raw wheel odometer data and other 6DoF/3DoF odometry?

Technical documentation

@heuluobo pls refer to the link in README.md

bro, this is EKF, not ESKF

it is indeed ESKF, because the state vector is in the form of **error state** instead of **true state** and the measurement jacobian is defined `h(x)/delta x`.