QCQP-representable IMU pre-integration factor brings certifiable estimation to inertial SLAM
zhenjun_zhao · x · 2026-10-01
A new arXiv paper proposes the first QCQP-representable IMU pre-integration factor for certifiable state estimation.
- Challenge: standard pre-integration uses the exponential map (no exact polynomial form), and lifted QCQP formulations often yield loose SDP relaxations.
- Method: derive the factor via the Cayley map plus explicit redundant constraints on rotation/wedge/translation to tighten the relaxation.
- Results: applied to certifiable GNSS-IMU smoothing on synthetic and real data, achieving tight relaxations and verified global optimality. Submitted to ICRA 2027.
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