IMU Jacobian Calculation
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tanjunyao7 commented
Hi,
thanks for your works. After reading your codes related to evaluation of imu residuals, I was puzzled by some some terms. Did you derive the formulae yourself or refer to other works? I would appreciate it if you recommend some papers.
RonaldSun commented
Mainly refer to Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization.