FAST-LIVO2 icon indicating copy to clipboard operation
FAST-LIVO2 copied to clipboard
verified publisher icon hku-mars

why such equations for LIO ESIKF update

Open biggiantpigeon opened this issue 7 months ago • 0 comments

I don't quite get the update equation ((11) in FAST-LIVO2 paper or (14) in FAST-LIO2 paper): In my knowledge, there's no '-' before Kz (I can get this if z=0 and Kr = -Kz_k) and there's no I-KH term.

Also, if compare (11) in FAST-LIVO2 paper and (14) in FAST-LIO2 paper, there's a difference in term J_k.

Can anyone share some perspective?

fast-lio2: Image

fast-livo2: Image

biggiantpigeon avatar May 29 '25 04:05 biggiantpigeon