In this paper, we propose a novel accurate method for dead-reckoning of wheeled vehicles
based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles …

Although Global Navigation Satellite Systems (GNSSs) generally provide adequate
accuracy for outdoor localization, this is not the case for indoor environments, due to signal …

Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

For high-level Autonomous Vehicles (AV), localization is highly security and safety critical.
One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use …

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 …

This paper proposes a real-time approach for long-term inertial navigation based only on an
Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds …

While many works exploiting an existing Lie group structure have been proposed for state
estimation, in particular the invariant extended Kalman filter (IEKF), few papers address the …

The present paper introduces a novel methodology for Unscented Kalman Filtering (UKF) on
manifolds that extends previous work by the authors on UKF on Lie groups. Beyond filtering …

The invariant extended Kalman filter (IEKF) is proven to preserve the observability property
of visual-inertial navigation systems (VINS) and suitable for consistent estimator design …

This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a
novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to …