【尊享】ZX106 – 滤波SLAM之MSDKF原理解析与源码详解 [4.4G]

【尊享】ZX106 – 滤波SLAM之MSDKF原理解析与源码详解 [4.4G]
┣━━1_第一章：MSDKF论文及安装运行 [1.1G]
┃ ┣━━1_1.1MSCKF介绍.abc [79.4M]
┃ ┣━━2_1.2msckf运行.abc [242.4M]
┃ ┗━━3_S-MSCKF论文及算法框架详细解读.abc [795.1M]
┣━━2_第二章：卡尔曼滤波及IMU误差模型 [561.4M]
┃ ┣━━1_2.1卡尔曼滤波.abc [163.2M]
┃ ┣━━2_2.2JPL四元数.abc [218.5M]
┃ ┗━━3_2.3IMU误差模型.abc [179.7M]
┣━━5_第三章：前端简介及初始化 [368.6M]
┃ ┣━━1_3.1前端流程及参数.abc [136.4M]
┃ ┣━━2_3.2光流金字塔及跟踪.abc [90.4M]
┃ ┗━━3_3.3视觉初始化.abc [141.7M]
┣━━6_第四章：跟踪过程及特征选择 [505.7M]
┃ ┣━━1_4.1视觉跟踪（上）.abc [86.9M]
┃ ┣━━2_4.2RANSAC理论.abc [75.4M]
┃ ┣━━3_4.3视觉跟踪（下）.abc [212.3M]
┃ ┣━━4_4.4提取新特征.abc [67M]
┃ ┣━━5_4.5图片绘制.abc [41.4M]
┃ ┗━━6_4.6前端消息发布.abc [22.6M]
┣━━7_第五章：后端简介及特征管理 [549.1M]
┃ ┣━━1_5.1后端流程.abc [171.6M]
┃ ┣━━2_5.2IMU初始化.abc [57.6M]
┃ ┣━━3_5.3特征管理（上）.abc [162.7M]
┃ ┗━━4_5.4特征管理（下）.abc [157.2M]
┣━━8_第六章：后端理论推导 [852.5M]
┃ ┣━━1_6.1龙格库塔法状态预测.abc [195.6M]
┃ ┣━━2_6.2误差状态协方差递推.abc [166.4M]
┃ ┣━━3_6.3观测更新推导.abc [120.6M]
┃ ┣━━4_6.4可观性分析与约束.abc [264.7M]
┃ ┗━━5_6.5零空间投影与状态增广.abc [105.1M]
┣━━9_第七章：后端代码解析 [556.6M]
┃ ┣━━1_7.1状态预测.abc [181.1M]
┃ ┣━━2_7.2状态增广.abc [30.2M]
┃ ┣━━3_7.3过期点更新.abc [203.4M]
┃ ┣━━4_7.4冗余帧更新.abc [72.4M]
┃ ┗━━5_7.5发布与重置.abc [69.4M]
┣━━【课件】MSCKF.pdf [3.3M]
┣━━滤波开直播.pdf [910.4K]
┣━━滤波SLAM之msckf开课必看.pdf [9.4M]
┣━━A Multi-State Constraint Kalman Filterfor Vision-aided Inertial Navigation.pdf [1.2M]
┣━━Indirect Kalman Filter for 3D Attitude Estimation.pdf [330.5K]
┣━━Quaternion kinematics for the error-state Kalman filter.pdf [1.6M]
┣━━Robust Stereo Visual Inertial Odometry for FastAutonomous Flight.pdf [4.1M]
┗━━tr_2012_1.pdf [339.5K]

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