2 papers
eess.SY2024
Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry
Pieter van Goor, Robert Mahony
Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) glob…
cs.RO2023
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
Alessandro Fornasier, Pieter van Goor, Eren Allak +2
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in an…