Questions about " // Modify the transition matrix" in msckf_vio.cpp after Line 580
byrock opened this issue · 1 comments
byrock commented
I see that Phi is approximately calculated by 3-order taylor expansion in msckf_vio.cpp line 574. But the Phi is modifed by codes after line 580 and it seems not be mentioned in paper. If any one can help me to understand these operations? looking forward to your help! Thanks!
byrock commented
Oh I see it. Observability Consistency.