sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking

Yuxiang Peng, Chuchu Chen, Kejian Wu +1

In this paper, we develop and open-source, for the first time, a square-root filter (SRF)-based visual-inertial navigation system (VINS), termed sqrtVINS, which is ultra-fast, nume…