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IMU-Preintegration-Propogation-Doc

中文文档:IMU预积分总结与公式推导

最新版本(20180827),修订了各种下标错误,以及关于“对误差的Jacobian”的表述(对这部分有疑惑者,可参见我的知乎专栏文章Computing Jacobian, why error state?)。

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中文文档:IMU预积分总结与公式推导

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