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Mathematical analysis / Statistics / Probability / Control theory / Kalman filter / Robot control / Inertial frame of reference / Skew-symmetric matrix / Distribution / Inertial measurement unit / Normal distribution


IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation Christian Forster∗ , Luca Carlone† , Frank Dellaert† , and Davide Scaramuzza∗ ∗ Robotics and Perception Group, Unive
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