yangyulin / imu_cam_lidar_driver Goto Github PK
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For the data recording of Xsens IMU, Zed stereo camera and VLP16 LiDAR
[xsens_driver-1] process has died [pid 21474, exit code 1, cmd /home/tetra//src/IMU_Cam_LiDAR_driver/ethzasl_xsens_driver/nodes/mtnode.py __name:=xsens_driver __log:=/home//.ros/log/dd7198b4-770c-11ed-99f8-c85acf9f6ed6/xsens_driver-1.log].
log file: /home/***/.ros/log/dd7198b4-770c-11ed-99f8-c85acf9f6ed6/xsens_driver-1.log
Hello, I'm reading your paper < acoustic inertial Underwater Navigation >, and I'm interested in section a linear triangulation in Chapter 4. I'd like to know how you get the initial relative pose (R, P) between sonar frame I and sonar frame N in your article?
Is it through the essential matrix of polar geometry between sonar frames? Thank you in advance
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