Quaternion type Hamilton $JPL$ 1 Components s order $( q_w$ , $\mathbf{q} _v)$ $\left(\mathbf{q}_v\:,\:\right.$ $q_w)$ 2 $\operatorname{Algebra}$ Handedness $ij=k$ Right-...
Quaternion Conventions
px4ctrl understanding and tunning
状态机 Px4ctrl的状态机对象如下： class PX4CtrlFSM { public: // somedata private: State_t state; // Should only be changed in PX4CtrlFSM::process() function! AutoTakeoffLand_t...
[Paper Reading] Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry using SE2(3) Based Exact IMU Pre-integration
The main contributions of this work are the following: A novel factor graph formulation that tightly fuses tracked features from...
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