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[AMR] Fix errors pointed out to me

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janishutz
2026-08-09 08:30:17 +02:00
parent cc5f111813
commit a8b3bd7b20
24 changed files with 50 additions and 47 deletions
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electives/amr/parts/04_vision/03_mapping.tex
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@@ -35,9 +35,9 @@ $\displaystyle s_k = \frac{w_{k - 1} s_{k - 1} + \tilde{s}_k}{w_{k - 1} + 1}$ wi
\subsubsection{Iterative Closest Point}
Build \textit{correspondences}: associate all live scan points $l_i$ to closest map points $m_i$. Error term:
$\vec{e} = \vec{T}_{W L_l L_l} m_i - {_W}\vec{l}_i$.
$\vec{e} = \vec{T}_{W L_l} {_{L_l}}m_i - {_W}\vec{l}_i$.
Minimize this via Gauss-Newton, then re-associate, iterate.
\bi{Photometric}: $u_{KF} = \pi(\mat{T}_{WC_{KF}}^{-1} \mat{T}_{WC_l} \pi^{-1}(\vec{u}_{KF}, \mat{D}_{KF}[\vec{u}_{KF}]))$,
\bi{Photometric}: $u_{L} = \pi(\mat{T}_{WC_{KF}}^{-1} \mat{T}_{WC_l} \pi^{-1}(\vec{u}_{KF}, \mat{D}_{KF}[\vec{u}_{KF}]))$,
error term $\vec{e} = \mat{I}_{KF}[\vec{u}_{KF}] - \mat{I}_L[\vec{u}_{L}]$,
where all subscript $L$ are from live image, all subscript $KF$ key frame.