IMU preintegration for 2D SLAM problems using Lie Groups
Idril Geer,Joan Vallvé,Joan Solà,Idril Geer,Joan Vallvé,Joan Solà
2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely used in 3D problems for the 2D case, making use of Lie Theory. The Lie theory based formalization, fir...
