IMU Note for SLAM
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Blog posts
2018
Why do we need marginalization in BA?
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A common practice in Bundle Adjustment is to reduce the state dimension by marginalizing structure or pose states to improve the optimization speed.
Latex Note
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Upper & underbrace
\usepackage{amsmath}
z = \overbrace{
\underbrace{x}_\text{real} +
\underbrace{iy}_\text{imaginary}
}^\text{complex number}
$z = \overbrace{\underbrace{x}_\text{real} +\underbrace{iy}_\text{imaginary}}^\text{complex number}$
A closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ w.r.t $\textbf{R}$
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Is there a closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ with respect to $\textbf{R}\in SO(3)$ given $\textbf{R}_1$, $\textbf{R}_2 \in SO(3)$?