IMU index

Parent: SLAM Index

General

• IMU
• Gyroscope
• Odometry
• Why use the visual-inertial sensor combination?
• IMU to camera coordinate transformations
• phils-lab-sensor-fusion
  • sensor-fusion

Practical
Converting IMU data to inertial frame

Modelling

• Probabilistic models for IMU
  • [Choice of model for the IMU motion model](choice of model-for-the-imu-motion-model.md)     * [Choice of states for the IMU motion/kinematics model](choice of states-for-the-imu-motion_kinematics-model.md)     * Variables in ESKF using IMUs
• [IMU states, dynamics equations](imu states, dynamics equations.md) (kfs and preintegration) / [(kok) imu motion model (discrete)]((kok) imu motion model (discrete).md) /  [(forster) imu kinematic model using euler]((forster) imu kinematic model using euler.md) /  (sola) imu-motion-model      [The initial gravity vector/orientation for the IMU ESKF](the initial gravity-vector_orientation-for-the-imu-eskf.md)      IMU nominal-state and error-state kinematics
• IMU measurement model
      * [Assumptions in modelling the true angular velocity in IMUs](assumptions in modelling the-true-angular-velocity-in-imus.md)
      *  Modelling noise and bias for IMU

ESKF

• IMU ESKF prediction equations
• Fusing IMU with complementary sensory data

Preintegration

• Preintegration of IMU
• IMU preintegration on manifold

Fake data generation
IMU data generation from camera/visual data

Literature

• [MKok 2017 Using inertial sensors for position and orientation estimation](mkok 2017 using inertial sensors-for-position-and-orientation-estimation.md)
• Forster 2017 IMU Preintegration
• [resource IMU common specifications, error models etc](resource imu-common-specifications,-error-models-etc.md)
• http://docs.openvins.com/propagation.html