75 citations · 139 across the 22 of their papers we have counts for
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cs.RO2017★ 10 cited
An Invariant-EKF VINS Algorithm for Improving Consistency
Teng Zhang, Kanzhi Wu, Daobilige Su +2
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based V…
cs.RO2017
Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM
Teng Zhang, Kanzhi Wu, Jingwei Song +2
In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorith…