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Rank deficiency in GVINS #30

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Weirdo-p opened this issue Mar 30, 2022 · 0 comments
Open

Rank deficiency in GVINS #30

Weirdo-p opened this issue Mar 30, 2022 · 0 comments

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@Weirdo-p
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Hi, thanks for your great work and sorry for disturbing you several times. I just try to understand details in code.
In the optimization function, all the observations are put together with initial guesses and then optimize all the parameters. However, no prior informations(covariance) are provided like MSCKF or constant point in the ORBSLAM. So, maybe the whole optimization step is rank deficiet? But all parameters are estimated correctly. Are there any detials that I missed during code reading?
I am looking forward to your reply. Thanks in advance.
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@Weirdo-p