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cs.RO2026
The Setting of IMU Parameters in Kalman Filtering-based Information Fusion
Qiang Hu, Yanhua Zou, Shuaiyi Huo +2
The setting or tuning of specifications for the inertial measurement unit (IMU) is tricky in sensor fusion. The underneath conundrum is caused by the fact that the working conditio…
cs.RO2025
A Multi-view Landmark Representation Approach with Application to GNSS-Visual-Inertial Odometry
Tong Hua, Jiale Han, Wei Ouyang
Invariant Extended Kalman Filter (IEKF) has been a significant technique in vision-aided sensor fusion. However, it usually suffers from high computational burden when jointly opti…
cs.RO2024
An Immediate Update Strategy of Multi-State Constraint Kalman Filter
Qingchao Zhang, Wei Ouyang, Jiale Han +3
The lightweight Multi-state Constraint Kalman Filter (MSCKF) has been well-known for its high efficiency, in which the delayed update has been usually adopted since its proposal. T…