Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth

Martin Brossard, Axel Barrau, Paul Chauchat, Silvere Bonnabel. Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth. IEEE Transactions on Robotics, 38(2):998-1015, 2022. [doi]

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