An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems

Implementation of "An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems"

Authors: David Zuñiga-Noël, Francisco-Angel Moreno and Javier Gonzalez-Jimenez

Draft: arXiv:2103.03389

Dependencies (tested)

• CMake (3.10.2):

  sudo apt install cmake
  

• Boost (1.65.1):

  sudo apt install libboost-all-dev
  

• Eigen3 (3.3.4):

  sudo apt install libeigen3-dev
  

• Gflags (2.2.1):

  sudo apt install libgflags-dev
  

• Glog (0.3.5)

  sudo apt install libgoogle-glog-dev
  

• Ceres-solver (2.0.0)

  Install ceres-solver-2.0.0 following these instructions. Requires additionally libatlas-base-dev and libsuitesparse-dev.

Build

Make sure all dependencies are correctly installed. To build, just run the provided build.sh script:

git clone https://github.com/dzunigan/imu_initializaiton
bash build.sh

which should build the executables in the ./build directory.

Source structure

• The analytical solution is implemented in function proposed_accelerometer() in include/methods.h

• The non-linear constfunctions for iterative optimzation with ceres can be found in imu_ceres.h

• The iterative alternative is implemented in function iterative() in include/methods.h

• The IMU preintegration code (adapted from ORB_SLAM3) is implemented in: include/imu_preintegration.h src/imu_preintegration.cc