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请教FASTLIVO2论文里面两个公式 #19

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chenxiaocongAI opened this issue Sep 3, 2024 · 1 comment

chenxiaocongAI commented Sep 3, 2024

郑博，你好，想请教论文的三处地方

VIO在更新完成后，会进行normal的优化，其cost fuction的构建是如何推导出来的(论文的公式13)
LIO代码里面每个雷达点的噪声只用Beam range uncertainty来表示吗？
论文里面有这句话，能否帮忙解释一下，谢谢啦。we fix the initial inverse exposure time τ0 = 1 to eliminate the degeneration of equation (22) when all inverse exposure time are zeros.

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xuankuzcr commented Sep 7, 2024 •

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您好感谢关注，解释如下

公式13就是单应矩阵
LiDAR点的噪音用ranging uncertainty和bearing direction uncertainty表示，只是我们对range uncertainty做了更精准的建模(考虑了光束发散角和法向量与beam的夹角)
当所有逆曝光时间为零时，方程(22)会无法解或失去意义。为了避免这种情况，将初始逆曝光时间固定为1，至少有一个逆曝光时间是非零的，确保方程始终有解并保持稳定

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