Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation

Author:

Yang Yulin1ORCID,Chen Chuchu1,Lee Woosik1,Huang Guoquan1

Affiliation:

1. Robot Perception and Navigation Group, University of Delaware, Newark, DE, USA

Funder

University of Delaware (UD) College of Engineering

NSF

ARL

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Computer Vision and Pattern Recognition,Mechanical Engineering,Human-Computer Interaction,Biomedical Engineering,Control and Systems Engineering

Reference43 articles.

1. Observability Analysis of Aided INS With Heterogeneous Features of Points, Lines, and Planes

2. Aided Inertial Navigation: Unified Feature Representations and Observability Analysis

3. Supplementary materials: Decoupled right invariant error states for consistent visual-inertial navigation;yang,2021

4. Invariant Kalman Filtering

5. Non-linear state error based extended Kalman filters with applications to navigation;barrau,2015

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4. Learning‐based monocular visual‐inertial odometry with SE2(3) $S{E}_{2}(3)$‐EKF;Journal of Field Robotics;2024-04-24

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