Module: mola-imu-preintegration

Write me!

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


  • 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).