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 \(\textbf{I}_3\) |