IMU Preintegration

IMU Preintegration

Keyframe

Rotation from 2D to 3D

Uncertainty Description in SO(3)

• Rotation에 대한 uncertainty
• Graph SLAM 관점에서의 uncertainty
• manifold에서 IMU preintegration의 목적

IMU Model and Motion Integration

• discrete-time system 상에서 Hz가 높은 IMU sensor를 통해 motion을 어떻게 표현할까?
• IMU 센서 특성
• Motion Integration

Preintegrated IMU Measurements

• Definition & Assumption

• Derivation of Preintegrated IMU Measurements

  • Preintegrated Rotation Measurements
  • Preintegrated Velocity Measurements
  • Preintegrated Position Measurements
• Do the Uncertainties behave like Gaussian distribution?
• Bias Update
• 결론

위 내용은 Hyungtae Lim님의 IMU Preintegration 시리즈를 재정리 한 포스트 입니다.