Derivation of VINS-Mono IMU Pre-integration
参考：
- https://arxiv.org/pdf/1708.03852.pdf
- https://arxiv.org/pdf/1912.11986.pdf
- https://github.com/MRwangmaomao/VSLAM/tree/master/VINS/VINS-Mono-code-annotation-master/paper
If the pdf preview below is not working, click here to view.