2023
Analytic IMU Preintegration That Associates Uncertainty on Matrix Lie Groups for Consistent Visual-Inertial Navigation Systems
RA-L 2023
We present a novel right-invariant inertial measurement unit (RI IMU) preintegration model and apply it to an optimization-based visual–inertial navigation system (VINS). We find that the unobservable subspace of the proposed estimator was only affected by landmarks from the standpoint of an observa