As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems
(VINS) have prevailed in a wide range of applications from mobile augmented reality to …

Due to its widespread application in the robotics field, the Kalman filter has received
increased attention from researchers. This work reviews some of the modifications …

Legged robots require knowledge of pose and velocity in order to maintain stability and
execute walking paths. Current solutions either rely on vision data, which is susceptible to …

The Kalman filter—or, more precisely, the extended Kalman filter (EKF)—is a fundamental
engineering tool that is pervasively used in control and robotics and for various estimation …

Real-time, accurate, and robust localisation is critical for autonomous vehicles (AVs) to
achieve safe, efficient driving, whilst real-time performance is essential for AVs to achieve …

In this paper, we propose a novel robocentric formulation of the visual–inertial navigation
system (VINS) within a sliding-window filtering framework and design an efficient …