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edit EKF formula for odometry estimation problem

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This commit is contained in:
gfuse
2021-07-06 18:43:09 +02:00
parent 9ca9e263ba
commit 3b110b299b
4 changed files with 38 additions and 28 deletions
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GPU_version/vio/param/vo_fast.yaml
+5 -5
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@@ -7,9 +7,9 @@ svo:
init_min_tracked: 100
init_min_disparity: 30
structureoptim_max_pts: 50
kfselect_mindist: 0.05
kfselect_mindist: 0.001
poseoptim_thresh: 4.0
ACC_noise: 0.1 #acc white noise in continuous in EKF
GYO_noise: 0.1 #gyro white noise in continuous in EKF
svo_ekf: 5 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.5 #control vector noise in EKF
ACC_noise: 0.001 #acc white noise in continuous in EKF
GYO_noise: 0.001 #gyro white noise in continuous in EKF
svo_ekf: 100 #Svo noise that will be devided by number of Reprojected points after opmization in EKF
Cmd_Cov: 0.001 #control vector noise in EKF