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Application du Groupe Li dans gtsam
2022-07-06 06:01:00 【Zhanjiang】
1. AdjointMapDéfinition
Pourquoi dans la matrice Li Qun,Les deux définitions ci - dessus peuvent être mélangées?La preuve est la suivante:
2. Li Qun AdjointMap
Comment la formule ci - dessus tire - t - elle les conclusions suivantes
AdjointMap Est la cartographie de la Matrice antisymétrique à la Matrice antisymétrique
Ordre
Alors la formule ci - dessus peut être écrite comme suit
Et j'ai poussé la formule suivante
3. Local Coordinates
Il y a une telle formule
La preuve est la suivante:
4. ImuFactor
Preuve
Par
Oui.
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