InGVIO issues

请问进addNewTrackedSys和updateTrackedSys的逻辑是什么，以及这两个函数的区别。

1

尊敬的作者您好，感谢开源此项目，想请教下进addNewTrackedSys函数的逻辑是什么，以及updateTrackedSys和addNewTrackedSys这两个函数的区别，谢谢！

About using vins-fusion to test the fw-dataset.

Sorry to disturb you.Have you ever used vins-fusion to test your dataset only in mode stereo+imu or the global-fusion mode. I found that the drift is so big.Maybe my config...

nwpuclydewang

Question about invariant and consistent

2

Hi, great job and thanks for your open source! I would like to ask that what is the difference between invariant and consistent in the context of EKF? Hope to...

Joanna-HE

Clarification on RTK

2

In the paper, at the end of section V, you make the following statement: > The meter-level difference of the estimated path of GVINS [23] or InGVIO to the RTK...

stefangachter

Clarification on proposition 2

2

Thanks a lot for providing the code on github and the paper on arxiv. I am studying the paper carefully and got stuck in section B on conditional infinitesimal symmetries...

stefangachter

The derivation was based which form of quaternion? JPL or Hamilton

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Hello, I wanna know that your derivation of all equations was in form of JPL or Hamilton quaternion. Because you referred to OpenVINS and it is based on JPL quaternion....

yang0331