Visual-inertial odometry (VIO) is the problem of estimating a robot's trajectory by combining
information from an inertial measurement unit (IMU) and a camera and is of great interest to …

The kinematics of many control systems, especially in the robotics field, naturally live on
smooth manifolds. Most classical state-estimation algorithms, including the extended …

Respecting the geometry of the underlying system and exploiting its symmetry have been
driving concepts in deriving modern geometric filters for inertial navigation systems (INSs) …

Stochastic inference on Lie groups plays a key role in state estimation problems such as;
inertial navigation, visual inertial odometry, pose estimation in virtual reality, etc. A key …

Algorithms that estimate the navigation states and local environment of a robotic vehicle are
core enabling technologies for autonomous systems. The first work that exploited symmetry …

The trajectory tracking problem is a fundamental control task in the study of mechanical
systems. A key construction in tracking control is the error or difference between an actual …