Ziwei Kang

CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups

Ultra-Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWB-aided VIO system. An inconsistent estimator can degrade localization performance, where the inconsistency primarily arises from two ma