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边缘化因子的残差增长问题。 #224

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lishaokeng1 opened this issue Nov 14, 2023 · 2 comments
Open

边缘化因子的残差增长问题。 #224

lishaokeng1 opened this issue Nov 14, 2023 · 2 comments

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@lishaokeng1
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运行kitti数据集时，我在滑窗优化过程中记录了边缘化因子的残差的模，发现随着优化进行，这个数值不断增大，如果系统运行好几天的话，可能出现边缘化因子的尺度远大于视觉重投影因子，这是我疑惑的地方，两者尺度差别太大的话会导致优化走偏吗？麻烦说下您的理解，感激不尽！
@lishaokeng1
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还有，我在仿照这个项目写的一个滑窗优化代码里，边缘化因子的残差模并没有增长，debug了好几天还是找不到原因，可以的话麻烦提供一些思路吗？

@lishaokeng1
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lishaokeng1 commented Nov 14, 2023 •
edited

边缘化残差模的增长大致像这样子，这里只贴了一小段距离
Figure_1

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