IMU Jacobian Calculation

RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU

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IMU Jacobian Calculation #12

Open tanjunyao7 opened 5 years ago

tanjunyao7 commented 5 years ago

Hi, thanks for your works. After reading your codes related to evaluation of imu residuals, I was puzzled by some some terms. Did you derive the formulae yourself or refer to other works? I would appreciate it if you recommend some papers.

RonaldSun commented 5 years ago

Mainly refer to Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization.