5 papers · 1 filter
Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Application
Maosong Wang, Jiarui Cui, Wenqi Wu +2
One of the core advantages of SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. In the previous paper, the theoretical analysis of auton…
Improve the autonomy of the SE2(3) group based Extended Kalman Filter for Integrated Navigation: Theoretical Analysis
Jiarui Cui, Maosong Wang, Wenqi Wu +2
One of core advantages of the SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. Current research on Lie group based extended Kalman filt…
SP-VINS: A Hybrid Stereo Visual Inertial Navigation System based on Implicit Environmental Map
Xueyu Du, Lilian Zhang, Fuan Duan +4
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality h…
SP-VIO: Robust and Efficient Filter-Based Visual Inertial Odometry with State Transformation Model and Pose-Only Visual Description
Xueyu Du, Lilian Zhang, Chengjun Ji +5
Due to the advantages of high computational efficiency and small memory requirements, filter-based visual inertial odometry (VIO) has a good application prospect in miniaturized an…
PO-MSCKF: An Efficient Visual-Inertial Odometry by Reconstructing the Multi-State Constrained Kalman Filter with the Pose-only Theory
Xueyu Du, Lilian Zhang, Ruochen Liu +3
Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO…