Tony Scott

Hello I ran main_kitti.py in default mode and it produced 10 different sets of graphical results. All looked rather good, great in fact. The worst case was 2011_10_03_drive_0027_extract It starts...

Eq. 11 of the propagation step different from code (?)

4

 Eq. 11 of the propagation step in Brossard's paper (see attached clip) has: P_{n+1} = F_n * P_n * F_n^T + G_n * Q_n * G_n^T where F_n and...

Eq. 6 of Brossard's paper: Rotation matrix must be confined in x-y plane.

6

I have encountered a problem with Brossard's equations, namely eq. 6, and written in his code in utils_numpy_filter.py, specifically in the 'propagate' routine: acc = Rot_prev.dot(u[3:6] - b_acc_prev) + self.g...