Guoquan P. Huang

Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation

The invariant extended Kalman filter (IEKF) is proven to preserve the observability property of visual-inertial navigation systems (VINS) and suitable for consistent estimator design. However, if features are maintained in the state vector, the propagation of IEKF will become more computationally ex