IMU states, dynamics equations

Parent: IMU index
Source: Mur-Artal 2017 VI-ORB

Evolution of IMU states (world frame to IMU: orientation R, position p, velocity v) between consecutive keyframes

Evolution of IMU states (world frame to IMU: orientation R, position p, velocity v) between consecutive frames

Using the preintegration terms  

Preintegration (delta) terms and the Jacobians can be computed iteratively as IMU measurements arrive (s. Forster’s paper on preintegration)