Data Association in MSCKF

本文最后更新于:May 7, 2023 pm

[TOC]

MSCKF

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typedef
std::map<FeatureIDType, Feature, std::less<int>,
Eigen::aligned_allocator<std::pair<const FeatureIDType, Feature> > > MapServer;

struct Feature {
FeatureIDType id;

Eigen::Vector3d position;

std::map<StateIDType, Eigen::Vector4d, std::less<StateIDType>,
Eigen::aligned_allocator<std::pair<const StateIDType, Eigen::Vector4d> > > observations;
};


Data Association in MSCKF
https://cgabc.xyz/posts/c92888db/
Author
Gavin Gao
Posted on
October 10, 2020
Licensed under