Module: mola-imu-preintegration

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For the theory behind IMU preintegration, refer to :cite:`crassidis2006,forster2015,nikolic2016`.

Bibliography

• Crassidis, J. L. (2006). Sigma-point Kalman filtering for integrated GPS

  and inertial navigation. IEEE Transactions on Aerospace and Electronic Systems, 42(2), 750-756.

• Forster, C., Carlone, L., Dellaert, F., & Scaramuzza, D. (2015). IMU

  preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation. Georgia Institute of Technology.

• Nikolic, J. (2016). Characterisation, calibration, and design of

  visual-inertial sensor systems for robot navigation (Doctoral dissertation, ETH Zurich).