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RISEfficient and Consistent Two Key-Frame Visual-Inertial Navigation Using Matrix Lie Groups
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design of a two key-frame visual-inertial navigation system (2KF-VINS) using a combined Lie group SE2(3) extended Kalman filter (EKF) design framework. The conventional 2KF-VINS filter is unobservable ...