Curiosity about prior bias #3
Description
Hello, I have been studying SLAM and have a question about prior bias in the code.
I looked up the paper_metrics.cpp, and it compares the affect of bias term.
Exploiting the Taylor first order expansion, it could successfully correct the position and rotation.
However, if we exploited prior bias instead of Taylor expansion, its errors become larger.
I tested using this code.
celib::ImuPreintegration imu_preint(data, start_t, t, preint_opt, prior);
celib::PreintMeas preint = imu_preint.get(0,0);
std::vector acc = {acc_bias_norm[ibf], acc_bias_norm[ibf], acc_bias_norm[ibf]}
prior.acc_bias = acc;
celib::ImuPreintegration imu_preint2(data, start_t, t, preint_opt, prior);
celib::PreintMeas preint_corrected = imu_preint2.get(0,0);
The results :
\scriptsize Bias norm & \scriptsize 0.01 & \scriptsize 0.05 & \scriptsize 0.1 & \scriptsize 0.2 & \scriptsize 0.4 & \scriptsize 0.6 & \scriptsize 0.8 & \scriptsize 1
\scriptsize Slow Pos er. & \scriptsize 0.312 & \scriptsize 0.466 & \scriptsize 1.17 & \scriptsize 2.12 & \scriptsize 2.31 & \scriptsize 4.24 & \scriptsize 4.61 & \scriptsize 8.47 & \scriptsize 9.21 & \scriptsize 17 & \scriptsize 13.8 & \scriptsize 25.4 & \scriptsize 18.4 & \scriptsize 33.9 & \scriptsize 23 & \scriptsize 42.4
\scriptsize Fast Pos er. & \scriptsize 0.106 & \scriptsize 0.134 & \scriptsize 0.253 & \scriptsize 0.473 & \scriptsize 0.491 & \scriptsize 0.932 & \scriptsize 0.982 & \scriptsize 1.86 & \scriptsize 1.97 & \scriptsize 3.71 & \scriptsize 2.96 & \scriptsize 5.57 & \scriptsize 3.95 & \scriptsize 7.42 & \scriptsize 4.94 & \scriptsize 9.28
I will be waiting for your reply.