I am new to IMU. About the measurements from IMU, different materials give different explanations.
From the link:
https://www.it.uu.se/edu/course/homepage/systemid/vt14/tokp2.pdf Here the b maybe indicate body frame of IMU. Maybe e indicate earth frame. I can't understand the rotation matrix R(be) in the second equation means. Is R(be) from camera-IMU calibration to represent the extrinsic paramter between camera and IMU. Is the measurement from the accelerometer expressed in the IMU frame or not?