假定外参
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c
b
q_{c b}
qcb是不变的,对于每两帧图像间的位姿变换
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q_{c_k c_{k+1}}
qckck+1和对应IMU的
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q_{b_{k} b_{k+1}}
qbkbk+1有如下关系:
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⊗
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b
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=
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⊗
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转换为矩阵形式
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R
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L
∗
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(
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L
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∗
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0
q_{c b} \otimes q_{b_{k} b_{k+1}} =q_{c_k c_{k+1}} \otimes q_{c b} \\ \text{转换为矩阵形式} \\ [q_{b_k,b_{k+1}} ]_R * q_{c b} = [q_{c_k,c_{k+1}} ]_L * q_{c b} \\ ([q_{b_k,b_{k+1}} ]_R- [q_{c_k,c_{k+1}} ]_L) * q_{c b} = 0
qcb⊗qbkbk+1=qckck+1⊗qcb转换为矩阵形式[qbk,bk+1]R∗qcb=[qck,ck+1]L∗qcb([qbk,bk+1]R−[qck,ck+1]L)∗qcb=0
一般取N个这个样的方程,然后求解Ax =0
02-10
348
04-28
868