HITSZ-NRSL/Dynamic-VINS

Can you provide me with detailed materials about the added IMU-aided feature tracking?

Eunseong17 opened this issue · 3 comments

Eunseong17 commented

Thank you for your great work.
I am wondering about IMU-aided feature tracking. I searched for this reference in your paper (Dynamic-VINS), but I couldn't find it.

jianhengLiu commented

Assume that the motion between two image frames is pure rotation R^k_{k+1}
image
w_k is the frame angular velocity measured by the gyroscope
image
K is the intrinsic matrix, p_k is the pixel coordinate

Eunseong17 commented

Thank you for the response.

Eunseong17 commented

I have additional question.
It appears that the equations only account for rotation. Is translation (straight-line motion) not considered in this model?

Thank you.