Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry.

Martin Brossard Silvere Bonnabel Axel Barrau

Published in: IROS (2018)

Keyphrases

inertial sensors
unscented kalman filter
lie group
position and orientation
sensor fusion
motion tracking
motion sequences
dynamic model
extended kalman filter
parameter space
calibration method
image sequences
kalman filter
computer vision
mobile robot
markov random field