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This commit is contained in:
gfuse
2021-10-07 19:36:49 +02:00
parent 45ed85c0e9
commit 91a01ec03d
11 changed files with 31 additions and 26 deletions
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GPU_version/vio/param/vo_fast.yaml
+4 -4
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@@ -9,10 +9,10 @@ vio:
structureoptim_max_pts: 50
kfselect_mindist: 0.01
poseoptim_thresh: 8.0
init_min_inliers: 50
init_min_inliers: 40
ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.05 #gyro white noise in continuous in EKF
VO_ekf_translation: 0.5 #VO noise in EKF
VO_ekf_orientation: 1.5 #VO noise in EKF
GYO_ekf: 0.1 #gyro white noise in continuous in EKF
VO_ekf_translation: 1.0 #VO noise in EKF
VO_ekf_orientation: 3.0 #VO noise in EKF
CMD_ekf_translation: 0.1 #control vector noise in EKF
CMD_ekf_orientation: 0.01 #control vector noise in EKF