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Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design
[article]
2022
arXiv
pre-print
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a novel invariant extended Kalman filter (invariant EKF) is designed. We theoretically prove that, when we do not consider the uncertainty of the map information, the proposed invariant EKF can naturally maintain the correct observability properties of the system. To consider the uncertainty of the map information, we
arXiv:2204.12108v1
fatcat:rqpfjann4zgcffqdbl4oxbdxgq