On-Manifold IMU Preintegration — Summary & Notes

This repository contains concise notes and code snippets summarizing the key ideas from the paper “On-Manifold Preintegration for Real-Time Visual-Inertial Odometry” by Forster et al.

📘 Contents

• Markdown summaries of the main concepts:
  • IMU measurement models
  • Noise and bias handling
  • On-manifold preintegration
  • Factor graph formulation
• C++ code snippets illustrating:
  • Preintegrated measurement computation
  • Bias correction
  • Residual and Jacobian construction

🎯 Purpose

This repo provides a minimal, easy-to-read explanation of IMU preintegration targeted at:

• Students learning VIO / SLAM
• Engineers implementing VIO systems
• Anyone needing a lightweight reference without reading the full paper

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This work is still in progress — feel free to open issues or contribute improvements!