Take you step by step to learn the ORBSLAM3 source code (30) Introduction to Tracking.cc PreintegrateIMU

Table of contents

I. Introduction

2. Code

2.1 Complete code

2.2 Pre-integration technology

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I. Introduction

    Tracking::PreintegrateIMU()It is Trackinga member function in the class and is used to pre-integrate the data obtained from the IMU (Inertial Measurement Unit). Pre-integration is a key technology in visual-inertial odometry (VIO), which allows multiple IMU measurements to be integrated into a single pre-integration quantity for subsequent optimization.