Can you provide me with detailed materials about the added IMU-aided feature tracking?

HITSZ-NRSL / Dynamic-VINS

[RA-L 2022] RGB-D Inertial Odometry for a Resource-restricted Robot in Dynamic Environments

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Can you provide me with detailed materials about the added IMU-aided feature tracking? #37

Closed Eunseong17 closed 6 months ago

Eunseong17 commented 11 months ago

Thank you for your great work. I am wondering about IMU-aided feature tracking. I searched for this reference in your paper (Dynamic-VINS), but I couldn't find it.

jianhengLiu commented 11 months ago

Assume that the motion between two image frames is pure rotation R^k_{k+1} w_k is the frame angular velocity measured by the gyroscope K is the intrinsic matrix, p_k is the pixel coordinate

Eunseong17 commented 11 months ago

Thank you for the response.

Eunseong17 commented 10 months ago

I have additional question. It appears that the equations only account for rotation. Is translation (straight-line motion) not considered in this model?

Thank you.