9 posts in total
2022
On-Manifold Optimization: Local Parameterization
Observability and Inconsistency in a Nutshell
EKF v.s. MSCKF v.s. MAP (VINS-Mono)
2021
From MAP, MLE, OLS, G-N to IEKF, EKF
Zero Velocity Update (ZUPT) in OpenVINS
Bundle Adjustment (BA) in vSLAM or SFM
2020
EKF v.s. ESKF or Direct v.s. Indirect KF
2019
Ceres-Solver 从入门到上手视觉SLAM位姿优化问题
2018
vSLAM位姿优化中雅克比矩阵的求解