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#PreIntegration Method for the fusion of IMU data with GPS

I am amazed at the optimization based method for sensor fusion. So I do a tiny test to fuse one time stamp GPS data with IMU output. The referrence is IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation.

The matlab codes here can also differentiate a sequence of SE3 poses into IMU data using interpolation from the referrence: Spline Fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras.

imu_preintegration_matlab