An Invariant-EKF VINS Algorithm for Improving Consistency

An Invariant-EKF VINS Algorithm for Improving Consistency

25 February 2017

Papers citing "An Invariant-EKF VINS Algorithm for Improving Consistency"

18 / 18 papers shown

Title
Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry Anbo Tao Yarong Luo Chunxi Xia Chi Guo Xingxing Li 40 1 0 11 Sep 2024
Distributed Invariant Kalman Filter for Cooperative Localization using Matrix Lie Groups Yizhi Zhou Yufan Liu Pengxiang Zhu Xuan Wang 33 1 0 07 May 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 54 10 0 07 Mar 2024
PLV-IEKF: Consistent Visual-Inertial Odometry using Points, Lines, and Vanishing Points Tong Hua Tao Li Liang Pang Guoqing Liu Wencheng Xuanyuan Chang Shu Ling Pei 39 3 0 08 Nov 2023
Revisiting multi-GNSS Navigation for UAVs -- An Equivariant Filtering Approach Martin Scheiber Alessandro Fornasier Christian Brommer Stephan Weiss 18 3 0 16 Oct 2023
Equivariant Symmetries for Inertial Navigation Systems Alessandro Fornasier Yixiao Ge Pieter van Goor Robert E. Mahony Stephan Weiss 35 9 0 07 Sep 2023
PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter Tong Hua Tao Li Ling Pei 22 7 0 14 Mar 2023
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version) Daniil Lisus Mitchell R. Cohen James Richard Forbes 25 7 0 13 Dec 2022
InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry Changwu Liu Chengping Jiang Haowen Wang 17 27 0 27 Oct 2022
EqVIO: An Equivariant Filter for Visual Inertial Odometry Pieter van Goor Robert E. Mahony 25 32 0 04 May 2022
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design Zhuqing Zhang Yang Song Shoudong Huang R. Xiong Yue Wang 42 11 0 26 Apr 2022
The Geometry of Navigation Problems Axel Barrau Silvere Bonnabel 25 29 0 12 Jan 2022
An Equivariant Filter for Visual Inertial Odometry Pieter van Goor Robert E. Mahony 19 22 0 08 Apr 2021
Strapdown Inertial Navigation System Initial Alignment based on Group of Double Direct Spatial Isometries Lubin Chang F. Qin Jiangning Xu LLMSV 15 57 0 25 Feb 2021
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) Martin Brossard Axel Barrau Silvere Bonnabel 30 39 0 03 Feb 2020
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation R. Hartley Maani Ghaffari Jadidi Ryan Eustice J. Grizzle 18 255 0 19 Apr 2019
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM Martin Brossard Axel Barrau Silvère Bonnabel 12 43 0 13 Mar 2019
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation R. Hartley Maani Ghaffari Jadidi J. Grizzle Ryan Eustice 25 52 0 26 May 2018