12 citations · 12 across the 6 of their papers we have counts for
6 papers
Equivariant Filter Transformations for Consistent and Efficient Visual--Inertial Navigation
Chungeng Tian, Fenghua He, Ning Hao
This paper presents an equivariant filter (EqF) transformation approach for visual--inertial navigation. By establishing analytical links between EqFs with different symmetries, th…
Unobservable Subspace Evolution and Alignment for Consistent Visual-Inertial Navigation
Chungeng Tian, Fenghua He, Ning Hao
The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency t…
T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation
Chungeng Tian, Ning Hao, Fenghua He
This paper presents a novel approach to address the inconsistency problem caused by observability mismatch in visual-inertial navigation systems (VINS). The key idea involves apply…
A Transformation-based Consistent Estimation Framework: Analysis, Design and Applications
Ning Hao, Chungeng Tian, Fenghua He
In this paper, we investigate the inconsistency problem arising from observability mismatch that frequently occurs in nonlinear systems such as multi-robot cooperative localization…
Consistent Distributed Cooperative Localization: A Coordinate Transformation Approach
Chungeng Tian, Ning Hao, Fenghua He +1
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting…
KD-EKF: A Consistent Cooperative Localization Estimator Based on Kalman Decomposition
Ning Hao, Fenghua He, Chungeng Tian +2
In this paper, we revisit the inconsistency problem of EKF-based cooperative localization (CL) from the perspective of system decomposition. By transforming the linearized system u…