IMU preintegration on Manifold

[fatrybl]

Hello, great thank for your framework!
I have a general question about expanding the dimensionality of state vector. To make is SE(3) + some other parameters.
Is there a way to do it? For example, to add linear velocities and accelerometer/gyroscope biases into state vector to optimize. Im trying to understand whether is it possible to implement IMU preintegration on Manifold by Foster and Carlone https://www.researchgate.net/publication/314578434_IMU_Preintegration_on_Manifold_for_Efficient_Visual-Inertial_Maximum-a-Posteriori_Estimation
and what steps should be done for it.
Any suggestions ?
Thank you in advance

[sjulier]

You might want to check ORBSLAM3: https://github.com/UZ-SLAMLab/ORB_SLAM3

[github-actions]

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