Dimitrios G. Kottas

An iterative Kalman smoother for robust 3D localization on mobile and wearable devices

In this paper, we introduce an Iterative Kalman Smoother (IKS) for tracking the 3D motion of a mobile device in real-time using visual and inertial measurements. In contrast to existing Extended Kalman Filter (EKF)-based approaches, smoothing can better approximate the underlying nonlinear system an…