normjac.m

移动机器人同时定位与地图创建最前沿技术

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% SLAM Summer School 2006, Oxford.
% Practical 3. SLAM using Monocular Vision.
% Practical exercise.
% J.M.M. Montiel, Javier Civera, Andrew J. Davison.
% {josemari, jcivera}@unizar.es, [e-mail]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function J=normJac(q)

     r=q(1);
     x=q(2);
     y=q(3);
     z=q(4);

     J=(r*r+x*x+y*y+z*z)^(-3/2)*...
   [x*x+y*y+z*z         -r*x         -r*y         -r*z;
	       -x*r  r*r+y*y+z*z         -x*y         -x*z;
	       -y*r         -y*x  r*r+x*x+z*z         -y*z;
	       -z*r         -z*x         -z*y  r*r+x*x+y*y];

 return