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衡量飘移的指标？ #442

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衡量飘移的指标？#442
@maomao0220

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@maomao0220
maomao0220
opened on Mar 26, 2026

您好，请问fastlio2中观察什么变量可以判断里程计位姿是否发生了飘移？比如通过auto P = kf.get_P()获取协方差矩阵可以判断吗？

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