Exploiting Symmetries to Design EKFs with Consistency Properties for
Navigation and SLAM

Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM

13 March 2019

Martin Brossard

Axel Barrau

Silvère Bonnabel

Papers citing "Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM"

10 / 10 papers shown

Title
Fault-Tolerant Multi-Modal Localization of Multi-Robots on Matrix Lie Groups Mahboubeh Zarei Robin Chhabra 33 0 0 01 May 2025
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 23 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
Inertial based Integration with Transformed INS Mechanization in Earth Frame Lubin Chang Jingbo Di F. Qin 29 53 0 03 Mar 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
Lie Algebraic Unscented Kalman Filter for Pose Estimation A. M. Sjøberg O. Egeland 64 14 0 30 Apr 2020
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) Martin Brossard Axel Barrau Silvere Bonnabel 28 39 0 03 Feb 2020