Comments (6)
Hi @narutojxl --
Thanks for the interest. Unfortunately we're only here to help with the code, but there are some wonderful resources you can find online to help you with the derivation. Also, since we use a modified version of the fast_gicp
solver, we also recommend referring back to a similar issue you opened on their repository a few years ago. Best of luck.
from direct_lidar_odometry.
Thanks author for remainding me that issue, i have forgot it :) . As the author told calculating the jacobian of
When i carefully expand my derivation as the following, it seems not equal in the code mathematically, hessian Hi and bi, LM llt solver ?
from direct_lidar_odometry.
I would recommend asking the fast_gicp
authors, as we inherited that part of the code from them.
from direct_lidar_odometry.
Hello doctor Koide, @koide3
If you are interested in this issue and have some time, could you please give some advice about why not calculate hessian like the above mentioned form? Thanks for your help and time in advance!
from direct_lidar_odometry.
The GICP cost is given by . To use the Gauss-Newton method, we need (not ) and weighting it by . So, , and H is given as .
Eqs. 4 and 10 in the following paper would help to understand how the information matrix (the matrix in our case) is computed and used for the Gauss-Newton method: http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf
from direct_lidar_odometry.
Thanks Dr @koide3 and @kennyjchen for your kind and patient reply.
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