摘要:
# EKF与ESKF的对比 ***“Engineers can solve exact problems using numerical approximations, or they can solve approximate problems exactly" - Fred Daum.*** 对 阅读全文
摘要:
III. System Overview B. Three Threads: Tracking, Local Mapping and Loop Closing 我们的系统分为三个线程:跟踪、局部建图和回环检测。 跟踪负责利用每一帧图像定位相机的位置,并决定何时插入一个新的关键帧。我们首先将当前帧与前 阅读全文