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Jose Luis Blanco-Claraco 2020-06-10 10:06:16 +02:00
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doc/gtsam-coordinate-frames.lyx
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@ -2291,15 +2291,11 @@ uncalibration
used in the residual). used in the residual).
\end_layout \end_layout
\begin_layout Standard
\begin_inset Note Note
status collapsed
\begin_layout Section \begin_layout Section
Noise models of prior factors Noise models of prior factors
\end_layout \end_layout
\begin_layout Plain Layout \begin_layout Standard
The simplest way to describe noise models is by an example. The simplest way to describe noise models is by an example.
Let's take a prior factor on a 3D pose Let's take a prior factor on a 3D pose
\begin_inset Formula $x\in\SE 3$ \begin_inset Formula $x\in\SE 3$
@ -2353,7 +2349,7 @@ e\left(x\right)=\norm{h\left(x\right)}_{\Sigma}^{2}=h\left(x\right)^{\t}\Sigma^{
useful answer out quickly ] useful answer out quickly ]
\end_layout \end_layout
\begin_layout Plain Layout \begin_layout Standard
The density induced by a noise model on the prior factor is Gaussian in The density induced by a noise model on the prior factor is Gaussian in
the tangent space about the linearization point. the tangent space about the linearization point.
Suppose that the pose is linearized at Suppose that the pose is linearized at
@ -2431,7 +2427,7 @@ Here we see that the update
. .
\end_layout \end_layout
\begin_layout Plain Layout \begin_layout Standard
This means that to draw random pose samples, we actually draw random samples This means that to draw random pose samples, we actually draw random samples
of of
\begin_inset Formula $\delta x$ \begin_inset Formula $\delta x$
@ -2456,7 +2452,7 @@ This means that to draw random pose samples, we actually draw random samples
Noise models of between factors Noise models of between factors
\end_layout \end_layout
\begin_layout Plain Layout \begin_layout Standard
The noise model of a BetweenFactor is a bit more complicated. The noise model of a BetweenFactor is a bit more complicated.
The unwhitened error is The unwhitened error is
\begin_inset Formula \begin_inset Formula
@ -2516,11 +2512,6 @@ e\left(\delta x_{1}\right) & \approx\norm{\log\left(z^{-1}\left(x_{1}\exp\delta
\end_inset \end_inset
\end_layout
\end_inset
\end_layout \end_layout
\end_body \end_body

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doc/gtsam-coordinate-frames.pdf
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