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A QCQP-Representable IMU Pre-Integration Factor for Certifiable State Estimation

Utkarsh Rai, Zhexin Xu, Bang-Shien Chen, David Rosen
Original paper Read the full paper (PDF)
From the abstract

We propose a QCQP-representable IMU pre-integration factor that enables certifiable estimation with pre-integrated inertial measurements. To the best of our knowledge, this is the first work to directly incorporate IMU pre-integration into certifiable estimation.

From the abstract. Our summary is in progress.