4 accepted papers
This letter investigates the inconsistency problem caused by the mismatch of observability properties commonly found in multi-robot cooperative localization (CL) and simultaneous localization and mapping (SLAM). To address this issue, we propose a transformation-based approach that introduces a line
This paper presents a novel approach to address the inconsistency problem caused by observability mismatch in visual-inertial navigation systems (VINS). The key idea involves applying a linear time-varying transformation to the error-state within the Error-State Kalman Filter (ESKF). This transforma
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea involves a linear time-varying coordinated transformation to…
In this paper, we revisit the inconsistency problem of EKF-based cooperative localization (CL) from the perspective of system decomposition. By transforming the linearized system used by the standard EKF into its Kalman observable canonical form, the observable and unobservable components of the sys…