Vio --- boundary adjustment solution process

One . Preface

（1）BA Similar to solving the observation equation SLAM problem .

Two . establish BA Model

        Mathematical description of projection process ; Establish the projection mathematical model from the point projection in the world coordinate system to the pixel coordinate system .

        Known quantity ： A point in the world coordinate system , Observed points Pixel coordinates of

        Optimized variables ： A point in the world coordinate system , Camera external parameters in projection mathematical model （ Expressed by Lie algebra as ）

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Once optimization is involved , There must be a loss function / Cost function .

The process of establishing the loss function is as follows ：

3、 ... and . solve BA

Four . Cumulative sum formal BA The incremental equation