2022
IMU preintegration for 2D SLAM problems using Lie Groups
IROS 2022poster
2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely us…