Support corrections to IMU readings using intrinsics
Online calibration of parameters
Simulator support to verify performance
Updated documentation
Discrete and analytical IMU propagation docs have been separated out
FEJ docs has been expanded
A few other improvements throughout the codebase
Fix #333 in ov_eval utility
Stereo tracking improvements
Fix #332 chance reject of features out of bounds
Fix bad masking logic, so features should be detected more reliably
The IMU intrinsics code was released in relation to the following publication:
Yang, Yulin, Patrick Geneva, Xingxing Zuo, and Guoquan Huang. "Online Self-Calibration for Visual-Inertial Navigation: Models, Analysis and Degeneracy." IEEE Transactions on Robotics, 2023.
https://pgeneva.com/downloads/preprints/Yang2023TRO.pdf
Key Changes
The IMU intrinsics code was released in relation to the following publication:
Example fixed masks in stereo tracking:
https://github.com/rpng/open_vins/assets/2222562/bd6f6927-96e6-4275-8ce8-93be25d00da4