PetWorm/IMU-Preintegration-Propogation-Doc

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PetWorm/IMU-Preintegration-Propogation-Doc

PetWorm

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中文文档：IMU预积分总结与公式推导

IMU-Preintegration-Propogation-Doc

中文文档：IMU预积分总结与公式推导

最新版本（20180827），修订了各种下标错误，以及关于“对误差的Jacobian”的表述（对这部分有疑惑者，可参见我的知乎专栏文章Computing Jacobian, why error state?）。

LARVIO

A lightweight, accurate and robust monocular visual inertial odometry based on Multi-State Constraint Kalman Filter.

IMU_error_state_propagation_doc

采用Hamilton四元数的低成本IMU误差方程详细推导

sim3_evaluate_tool

A matlab tool to evaluate trajectory RMSE using sim3 alignment.

msckf_vio_zhushi

msckf_vio注释

kitti_to_rosbag_for_vio

a modified version based on ethz-asl/kitti_to_rosbag to record image and imu data for running VIOs

ORB_SLAM2_zhushi

比较啰嗦的orbslam单目部分注释；采用本地最新版本g2o；一些格式转换的私货main（Example/zzz_QXC_Test）

docker-larvio-playground

A VNC docker image for playing with LARVIO. Ubuntu Bionic and ROS Melodic.