Tony Scott

@robocar2018 Thank you for all this. I have implemented this code and found that it did not fix the issue I faced concerning eq. 6. These extra terms in 'w'...

Thanks for telling me. You're right. But here is an idea. If the vehicle is at a stop, what if one measured the mean gyro and mean accel for say...

@robocar2018 Hello, in regards to your first question, if you mean committing code to ai-imu-dr, only Martin Brossard can commit and he has his own 'commitments' in industry. As for...

@scott81321 THX. It makes sense. Please let us know if you find any other errors or discrepancies in the equations of the paper. In the meantime, my kludge of estimating...

Hello @robocar2018 Since you have gone to this trouble to re-derive the equations of Brossard's paper, could you please make them public? E.g. could you scan them and post them...

@ajay1606 Don't abuse me and be grateful for your luck. There are initial parameters in main_kitti.py and YOU will have to find out, via testing, which ones have the most...

@ajay1606 The real-time ability of the model isn't even something you should be asking me or anyone. You figure that out. The program is fairly fast IMHO for test cases....

Hello @robocar2018 This is something better answered by Martin Brossard but I will give it a shot. Notice there is a discrepancy between the values of the noise covariances in...

Yes @ghs2015 , this eq. 3.7.10 has the same functional form as eq. 11 of Brossard's paper. I am not quibbling about that part of the paper. However, eq. 11...

@ghs2015 @robocar2018 There is something else about the code which does not match with Brossard's paper. Eqs. 18, 19 and 20 of his paper defined P0, Q and Nn as...