Analytic IMU Preintegration That Associates Uncertainty on Matrix Lie Groups for Consistent Visual-Inertial Navigation Systems.
Shu-Hua TsaoShau-Shiun JanPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- lie group
- navigation systems
- inertial sensors
- infinite dimensional
- route planning
- vision algorithms
- vector space
- parameter space
- vector field
- geometric structure
- mean shift
- riemannian manifolds
- euclidean space
- linear transformation
- visual features
- covariance matrices
- autonomous robots
- visual data
- visual information
- rigid motion
- kalman filter
- finite dimensional
- covariance matrix
- distance measure