SLAM_BA中重投影误差e 关于相机位姿扰动量δξ 的雅克比矩阵J 公式推导

惊鸿一博发布时间：2022-04-28 16:45:47 ，浏览量：0

1. 推导的公式是什么

2. 推导过程

3. G2O中代码实现（部分）

1. 推导的公式是什么

在SLAM中，为了使用重投影误差 e 对相机的位姿 ξ （李代表示形式）进行优化，需要求重投影误差e关于相机位姿扰动量δξ （本文使用左乘扰动，参考SLAM十四讲7.7.3节）的雅克比矩阵J =

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SLAM_BA中重投影误差e 关于相机位姿扰动量δξ 的雅克比矩阵J 公式推导

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