Can you provide me with detailed materials about the added IMU-aided feature tracking?

[Eunseong Jang]

Thank you for your great work.
I am wondering about IMU-aided feature tracking. I searched for this reference in your paper (Dynamic-VINS), but I couldn't find it.

[Liu Jianheng]

Assume that the motion between two image frames is pure rotation R^k_{k+1}

w_k is the frame angular velocity measured by the gyroscope

K is the intrinsic matrix, p_k is the pixel coordinate

[Eunseong Jang]

Thank you for the response.

[Eunseong Jang]

I have additional question.
It appears that the equations only account for rotation. Is translation (straight-line motion) not considered in this model?

Thank you.