4 accepted papers
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon localisation in submarine applications. In this work, we consider
The majority of commercial and open-source autopilot software for uncrewed aerial vehicles rely on the tried and tested extended Kalman filter (EKF) to provide the state estimation solution for the inertial navigation system (INS). While modern implementations achieve remarkable robustness, it is of…
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">equivariant</i> filter (MSC <italic xmlns:mml="http://w
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the extended Kalman Filter remain popular in VIO due to their low memory requirements, CPU usage, and processing time when compa…