This has been one of the larger releases with significant changes to the propagation to support IMU intrinsics and analytical integration. The documentation has been split into the original discrete derivations and analytical with IMU intrinsics to hopefully allow for comparison and learning between these two.
The IMU intrinsics code was released in relation to the following publication:
Yang, Yulin, Patrick Geneva, Xingxing Zuo, and Guoquan Huang. "Online Self-Calibration for Visual-Inertial Navigation: Models, Analysis and Degeneracy." IEEE Transactions on Robotics, 2023.
https://pgeneva.com/downloads/preprints/Yang2023TRO.pdf
Bug Fixes
- Fix #333 in ov_eval utility
- Stereo tracking improvements
- Fix #332 chance reject of features out of bounds
- Fix bad masking logic, so features should be detected more reliably
- Fix documentation #340 of feat init optimization Jacobian
Key Changes
- IMU intrinsic support has been added
- Support corrections to IMU readings using intrinsics
- Online calibration of parameters
- Simulator support to verify performance
- Updated documentation
- Discrete and analytical IMU propagation docs have been separated out
- FEJ docs has been expanded
- A few other improvements throughout the codebase
Example fixed masks in stereo tracking: