generates a modified residual vector for each feature详细什么意思
时间: 2024-04-02 17:36:51 浏览: 11
在MSCKF中,每个特征点对应一个状态向量,用于描述其在三维空间中的位置。在每个时间步,MSCKF会计算每个特征点的状态向量的误差,这个误差被称为残差(residual)。为了提高滤波器的鲁棒性和准确性,针对每个特征点,会生成一个经过修正的残差向量。
这个修正的残差向量可以更好地表征特征点的状态误差,并且可以被用来更新滤波器的状态估计。修正的残差向量是通过对原始残差向量进行一些变换得到的,例如去除视差(parallax)效应、去除相机运动对残差的影响等等。这样可以提高MSCKF在多传感器系统下的状态估计的准确性和鲁棒性。
相关问题
MSCKF generates a modified residual vector for each feature详细什么意思
MSCKF(Multi-State Constraint Kalman Filter)是一种用于多传感器系统状态估计的滤波器。在MSCKF中,每个特征点(例如在视觉SLAM中的特征点)都有一个对应的状态向量,用于描述其在三维空间中的位置。在每个时间步,MSCKF会计算每个特征点的状态向量的误差,这个误差被称为残差(residual)。
在MSCKF中,为了提高滤波器的鲁棒性和准确性,针对每个特征点,会生成一个经过修正的残差向量。这个修正的残差向量是通过对原始残差向量进行一些变换得到的,例如去除视差(parallax)效应、去除相机运动对残差的影响等等。修正的残差向量可以更好地表征特征点的状态误差,并且可以被用来更新滤波器的状态估计。
. Write a program that generates a vector with 30 random integers between –20 and 20 and then finds the sum of all the elements that are divisible by 3.
Sure, here's the Python program to generate a vector with 30 random integers between -20 and 20 and find the sum of all the elements that are divisible by 3:
```python
import random
# Generate a list of 30 random integers between -20 and 20
vec = [random.randint(-20, 20) for _ in range(30)]
# Find the sum of all elements that are divisible by 3
div_by_3_sum = sum([num for num in vec if num % 3 == 0])
# Print the results
print("Generated vector:", vec)
print("Sum of all elements divisible by 3:", div_by_3_sum)
```
This program uses a list comprehension to generate a list of 30 random integers between -20 and 20. Then, it uses another list comprehension to find all the elements in the list that are divisible by 3 and calculates their sum using the `sum()` function. Finally, it prints the generated vector and the sum of all elements that are divisible by 3.