A QCQP-Representable IMU Pre-Integration Factor for Certifiable State Estimation

arXiv:2609.38048 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Accuracy — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Ablation Studies — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Local Optimization — 2× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Covariance Propagation — 1× in this paper · explained in 2 episodes
• Homogenization — 1× in this paper · explained in 2 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Semidefinite Program (SDP) — 1× in this paper · explained in 2 episodes

Sources

• Certifiable Factor Graph Optimization

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