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关于slam中加入GPS融合的疑问 #43

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andrewhutong12345 opened this issue Dec 20, 2024 · 0 comments
Open

关于slam中加入GPS融合的疑问 #43

andrewhutong12345 opened this issue Dec 20, 2024 · 0 comments

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@andrewhutong12345
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请教一下各位直接在fast-lio2前端卡尔曼滤波时融入GNSS的观测值和本文在后端加入GNSS观测因子相比优劣势分别是什么呢？因为GNSS本身就是全局绝对定位，好像没有什么区别？另外如果有GNSS的观测值，是不是做后端优化和回环检测的好处就没那么大了？求指导！
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