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Why dont inflate the covariance of position when recovering the initialization covariance? #433
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Hi, could you expand on what exactly you are referring to? Thanks!
…On Tue, Mar 19, 2024 at 8:35 PM Tianze ***@***.***> wrote:
Why dont inflate the covariance of position but the other state like
orientation velocity and other two bias?
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here:
In my opinion, the reason is the covariance of position donot impact the other states because we dont use position to calculate any other state. |
Hi, the global position and yaw are unobservable for visual-inertial systems, so there is no need to inflate these parameters are we treat them as 100% known. You can see this in the prior we assign (can also see we put a prior on bias as it is near unobservable for small accel and gyo changes): open_vins/ov_init/src/dynamic/DynamicInitializer.cpp Lines 696 to 699 in 17b73cf
We just inflate the initial orientation as its roll and pitch are observable. I found in simulation that the covariance was overconfident when using short initialization windows. This is attributed to the fact that we need full 3d motion (orientation and non-constant velocity) to fully recover our states. Hope this helps. |
Why dont inflate the covariance of position but the other state like orientation velocity and other two bias?
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