most citedInvariant Kalman Filtering with Noise-Free Pseudo-Measurements

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eess.SY2024★ 4 cited

Invariant Kalman Filtering with Noise-Free Pseudo-Measurements

Sven Goffin, Silvère Bonnabel, Olivier Brüls +1

In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those con…

eess.SY2024★ 1 cited

Iterated Invariant Extended Kalman Filter (IterIEKF)

Sven Goffin, Axel Barrau, Silvère Bonnabel +2

We study the mathematical properties of the Invariant Extended Kalman Filter (IEKF) when iterating on the measurement update step, following the principles of the well-known Iterat…