Camera Error Projection #1045
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Camera Error Projection #1045
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* impl error projection * add twix panel for debugging * impl error projection * rename * rename 2 * add paper link * fix twix --------- Co-authored-by: okiwi6 <oleflb>
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* impl error projection * add twix panel for debugging * impl error projection * rename * rename 2 * add paper link * fix twix --------- Co-authored-by: okiwi6 <oleflb>
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Why? What?
Propagate measurement noise in the image through the camera matrix. This makes the uncertainty computation more exact. To account for the robot moving, the uncertainty in image coordinates is scaled by a filtered gyro velocity norm.
Depends on #1044.
Fixes #
ToDo / Known Issues
If this is a WIP describe which problems are to be fixed.
Ideas for Next Iterations (Not This PR)
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How to Test