IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation

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Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza

Published: 2015, Last Modified: 27 Feb 2026Robotics: Science and Systems 2015EveryoneRevisionsBibTeXCC BY-SA 4.0