当谈到IMU预积分时，有很多相关的学术文章和研究成果。以下是一些经典的论文和著作，这些文献对于理解和应用IMU预积分技术可能会有所帮助：
L. L. Whitcomb and S. Singh, “The effects of sensor noise on the error growth rate in dead-reckoning systems,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1989.
S. Weiss, M. Indlekofer, and J. Stückler, “Monocular slam with detailed 6-dof motion estimation and continuous-time trajectory optimization,” IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2012.
A. Ibanez-Guzman et al., “Error analysis of Euler integration methods for IMU-based pedestrian navigation,” Journal of Sensors, vol. 2015, Article ID 272905, 2015.
Eade, E., & Drummond, T.W. (2008). Unified inertial navigation for dense RGB-D mapping. In European Conference on Computer Vision (ECCV) (pp. 3-15).
Mottaghi R., Bagherinezhad H., Rastegari M., Farhadi A.. Newtonian Image Understanding: Unfolding the Dynamics of Objects in Static Images IEEE Conf on Computer Vision and Pattern Recognition (CVPR), Boston USA June 7-12th
请注意，这只是一小部分与IMU预积分相关的参考文献。根据具体领域和应用的需求，你可能需要进一步的研究和阅读相关文献。
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