Helper C++ classes to quickly preintegrate IMU measurements between SLAM keyframes

Overview

mola-imu-preintegration

Integrator of IMU angular velocity readings.

This repository provides:

  • IMUIntegrator and RotationIntegrator: C++ classes to integrate IMU accelerations and angular velocities.
  • IMUIntegrationPublisher: A MOLA module to process CObservationIMU readings and emit relative pose updates with respect to the last keyframe.

Build and install

Refer to the root MOLA repository.

Docs and examples

See this package page in the documentation.

License

This package is released under the GNU GPL v3 license.

Owner
The MOLA SLAM framework
Building blocks for SLAM
The MOLA SLAM framework
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