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| 1 | The·New·IMU·Factor | 1 | The·New·IMU·Factor |
| 2 | Frank·Dellaert·&·Varun·Agrawal | 2 | Frank·Dellaert·&·Varun·Agrawal |
| 3 | May·2 | 3 | May·22,·2024 |
| 4 | 1 | 4 | 1 |
| 5 | \xcIMU·Factor | 5 | \xcIMU·Factor |
| 6 | The·IMU·factor·has·2·variants: | 6 | The·IMU·factor·has·2·variants: |
| 7 | 1.·ImuFactor·is·a·5-way·factor·between·the·previous·pose·and·velocity,·the·current·pose | 7 | 1.·ImuFactor·is·a·5-way·factor·between·the·previous·pose·and·velocity,·the·current·pose |
| 8 | and·velocity,·and·the·current·IMU·bias. | 8 | and·velocity,·and·the·current·IMU·bias. |
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