Hi, I am a student and understand computer vision and Kalman filters very well. However, I am having trouble understanding how to incorporate IMU data with the vision data into the kalman filter. Can anyone recommend a reference or tutorial that would be accessible to learn VIO? I have read the following papers but find them challenging on my own:
Papers by: Patrick Geneva and Guoquan Huang from the University of Delaware. (OpenVINS https://docs.openvins.com/) but it is hard to understand and follow. Also papers by Anastasios I. Mourikis and Stergios I. Roumeliotis from University of Minnesota such as
"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation"
"Visual Inertial Navigation: A Concise Review"
"Indirect Kalman Filter for 3D Attitude Estimation A Tutorial for Quaternion Algebra, Technical Report Number 2005-002, Rev. 57 March 2005"
Thank you for any help you can provide, Jon Hauris