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