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cs.RO2025
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
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…