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第10讲 位姿图误差公式疑问 #92

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ChaiTF opened this issue Apr 6, 2020 · 3 comments
Open

第10讲 位姿图误差公式疑问 #92

ChaiTF opened this issue Apr 6, 2020 · 3 comments

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@ChaiTF
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ChaiTF commented Apr 6, 2020

高老师，您好，看第10讲位姿图优化时，式（10.4）中给出误差如下：
image
这里面的image怎么理解？
根据上下文，个人理解的误差公式应该是
image

不知是我理解有误还是书中的手误？
@yifaan
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yifaan commented Apr 29, 2020

这里应该是个Typo，我也觉得你的理解是对的.

@jimmysue
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这里应该是个Typo，我也觉得你的理解是对的.

你有推导 公式 10.8 吗, 那个约等是什么原理?

@vvvv0208
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确实是作者笔误，高翔在知乎回答了https://www.zhihu.com/question/424532579/answer/1957717393

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@yifaan @jimmysue @ChaiTF @vvvv0208