Session 4: Discussion on Assignments

Notes:

1) Assignment 1:

"What bugs me" when experimenting new VINS/LOAM method:

Also go to TUM group Links to an external site. to shop for new VIO methods to do experiments.

2) Hint for Assignment 2:

Use chain rule:

         d                                            d pi(x)       d x(R,t,za,...)          
         --- [pi(x(R,t, za,...)) - zb]  = -----------  --------------

         dR                                           dx                 dR

d pi(x)  / dx = "reduce" at this line Links to an external site.

3) Loop closure: Consult Ludvig ;)

4) Deskew: Check this Links to an external site. out.

5) Feature Indexing:

What author means probably:

5) Our course starts with "Optimization". I should have mentioned this earlier