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Table 1 Glossary of notations

From: M2C-GVIO: motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles

Symbol

Meaning

G

World frame

N

East-North-Up(ENU) frame

b

Body frame

I

IMU frame

C

Camera frame

\({}^B_A\textbf{q}({}^B_A\textbf{R})\)

Rotation from frame A to frame B

\({}^B\textbf{v}_A\)

Frame A’s velocity in frame B

\({}^B\textbf{p}_A\)

Frame A’s position in frame B

\(\hat{\textbf{x}}\)

Estimated value of \(\textbf{x}\)

\(\tilde{\textbf{x}}\)

Error value of \(\textbf{x}\)

\(\textbf{e}_i\)

The ith column of \(\textbf{I}_3\)