on-manifold IMU preintegration

transform

Sequence<IMUMeasurement> -> RelativePoseConstraint

Integrate high-frequency IMU measurements between keyframes on the manifold to yield relative motion constraints.

Problem it solves

Optimizing individual high-frequency IMU states in a factor graph is computationally prohibitive.

Consumes

Sequence<IMUMeasurement>

Emits

RelativePoseConstraint

Distilled from 1 source

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