Hi, Chao Qu.
I found that the default configuration of DSOL doesn't use marginalization, it makes sense because DSOL performs worse with marginalization ON. But why?
Theoretically it should performs better. Does direct method just conflict with marginalization?
( It is just my casual surmise since DM-VIO perform better with a custom marginalization )
Hi, Chao Qu.
I found that the default configuration of DSOL doesn't use marginalization, it makes sense because DSOL performs worse with marginalization ON. But why?
Theoretically it should performs better. Does direct method just conflict with marginalization?
( It is just my casual surmise since DM-VIO perform better with a custom marginalization )