Supplementary Material to : IMU Preintegration on Manifold for E � cient Visual - Inertial Maximum - a - Posteriori Estimation

Technical Report GT-IRIM-CP&R-2015-001 Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza May 30, 2015 This report provides additional derivations and implementation details to support the paper [4]. Therefore, it should not be considered a self-contained document, but rather regarded as an appendix of [4], and cited as: “C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, IMU preintegration on manifold for e cient visual-inertial maximum-a-posteriori estimation, (supplementary material, GT-IRIM-CP&R-2015-001), In Robotics: Science and Systems (RSS), 2015.” Across this report, references in the form “(x)”, e.g., (11), recall equations from the main paper [4], while references “(A.x)”, e.g., (A.1), refer to equations within this appendix.