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Add the Preintegrated IMU jacobians tech report and mention it in the docs

release/4.3a0
Varun Agrawal 2021-09-18 09:36:03 -04:00
parent 810f97305f
commit da220dca2f
3 changed files with 4 additions and 0 deletions
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doc/PreintegratedIMUJacobians.pdf Normal file
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gtsam/navigation/CombinedImuFactor.h
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@ -42,6 +42,8 @@ typedef ManifoldPreintegration PreintegrationType;
* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
* conditionally independent sets in factor graphs: a unifying perspective based
* on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.
*
* [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
*
* REFERENCES:
* [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",

2
gtsam/navigation/ImuFactor.h
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@ -44,6 +44,8 @@ typedef ManifoldPreintegration PreintegrationType;
* C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
* Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
* Robotics: Science and Systems (RSS), 2015.
*
* [3] is available in this repo as "PreintegratedIMUJacobians.pdf".
*
* REFERENCES:
* [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",