PO-KF: A Pose-Only Representation-based Kalman Filter for Visual Inertial Odometry

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An Immediate Update Strategy of Multi-State Constraint Kalman Filter

Q Zhang, W Ouyang, J Han, Q Cai, M Zhu… - arxiv preprint arxiv …, 2024 - arxiv.org
The lightweight Multi-state Constraint Kalman Filter (MSCKF) has been well-known for its
high efficiency, in which the delayed update has been usually adopted since its proposal …
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