factorIMU
Convert IMU readings to factor
Description
The factorIMU
object converts raw IMU readings into constraints
between poses, velocities, and IMU biases for a factorGraph
object.
Creation
Syntax
Description
creates a F
= factorIMU(nodeID
,GyroscopeBiasNoise
,AccelerometerBiasNoise
,GyroscopeNoise
,AccelerometerNoise
,GyroscopeReadings
,AccelerometerReadings
)factorIMU
object, F
, with the specified
node identification numbers property NodeID
set to
nodeID
, and with a sample rate, gyroscope bias noise,
accelerometer bias noise, gyroscope noise, accelerometer noise, gyroscope readings, and
accelerometer readings set to their corresponding values.
specifies the reference frame for the local coordinate system as north-east-down (NED)
instead of east-north-up (ENU), in addition to all input arguments from the previous
syntax.F
= factorIMU(___,ReferenceFrame
="NED")
Properties
Object Functions
Examples
References
[1] Forster, Christian, Luca Carlone, Frank Dellaert, and Davide Scaramuzza. “On-Manifold Preintegration for Real-Time Visual--Inertial Odometry.” IEEE Transactions on Robotics 33, no. 1 (February 2017): 1–21. https://doi.org/10.1109/TRO.2016.2597321.
Extended Capabilities
Version History
Introduced in R2022a