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cs.RO2026
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
cs.RO2026
Equivariant Filter for Radar-Inertial Odometry
Giulio Delama, Jan Michalczyk, Morten Nissov +4
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is se…