IMU problem

[davidlmljll]

1.When the camera +IMU is used to build the map, a similar barb phenomenon appears in the map trajectory. The reason is that the camera data loses the pose information generated by the IMU?

2.Can the IMU use gravity removal data as input? In addition, will the IMU use the compensating pose only when the image features are lost during the construction process or will the IMU data also be used in the optimization of the SLAM back-end?