Chao-Wei Chang

Error-State Kalman Filter based Visual-Inertial Odometry Using Orientation Measurement on Unit Quaternion Group

The inaccessibility of data from standard sensor suites on closed-platform unmanned aerial vehicles (UAVs) has been a hindrance to developing a compatible visual-inertial odometry (VIO). Despite the advance of recent VIO research, these works often emphasize fusing detailed sensor models with availa…