FEO: Edge Feature-Enhanced Multi-Modal Feature Extraction and Matching for Underwater Scenarios

The attachment \imu_data.csv\ presents the IMU sensor data. Each row contains a series of values representing different physical quantities measured by the IMU at a specific moment. The data columns from left to right can be generally interpreted as follows. The first two long numerical values represent timestamps. Subsequent three columns represent angular velocities  along the X, Y, Z axes respectively. The last three columns correspond to linear accelerations along the X, Y, Z axes respectively. These IMU data are crucial for tasks like motion estimation, pose tracking, and fusing with other sensor data.