MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple
partially over-lapped camera systems, named MAVIS. Our framework fully exploits the …
partially over-lapped camera systems, named MAVIS. Our framework fully exploits the …
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
An Inertial Navigation System (INS) is a system that integrates acceleration and angular
velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as …
velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as …
Equivariant Symmetries for Aided Inertial Navigation
A Fornasier - arXiv preprint arXiv:2407.14297, 2024 - arxiv.org
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) …
driving concepts in deriving modern geometric filters for inertial navigation systems (INSs) …
[HTML][HTML] Constructive synchronous observer design for inertial navigation with delayed GNSS measurements
P van Goor, P Wickramasinghe, M Hampsey… - European Journal of …, 2024 - Elsevier
Abstract Inertial Navigation Systems (INS) estimate a vehicle's navigation states (attitude,
velocity, and position) by combining measurements from an Inertial Measurement Unit (IMU) …
velocity, and position) by combining measurements from an Inertial Measurement Unit (IMU) …
Universal Global State Estimation for Inertial Navigation Systems
S Benahmed, S Berkane - arXiv preprint arXiv:2410.03846, 2024 - arxiv.org
This paper addresses the problem of accurate pose estimation (position, velocity, and
orientation) for a rigid body. By utilizing generic exteroceptive measurements in combination …
orientation) for a rigid body. By utilizing generic exteroceptive measurements in combination …