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GTSAM中李群的运用
2022-07-06 05:58:00 【瞻邈】
1. AdjointMap定义
为何在矩阵李群中,上述两种定义可以混用呢?证明如下
2. 李群的AdjointMap
上面的公式如何得出下面的结论
AdjointMap是反对称矩阵到反对称矩阵的映射
令
则上面的公式可以写成下式
继而推得下面的式子
3. Local Coordinates
有这样一个公式
证明如下
4. ImuFactor
证明
由
得
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