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1711.02508
Cited By
Quaternion kinematics for the error-state Kalman filter
3 November 2017
J. Solà
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Papers citing
"Quaternion kinematics for the error-state Kalman filter"
50 / 120 papers shown
Unobservable Subspace Evolution and Alignment for Consistent Visual-Inertial Navigation
Chungeng Tian
Fenghua He
Ning Hao
139
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Integration of Visual SLAM into Consumer-Grade Automotive Localization
Luis Diener
Jens Kalkkuhl
Markus Enzweiler
145
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0
10 Nov 2025
Lateral Velocity Model for Vehicle Parking Applications
Luis Diener
Jens Kalkkuhl
Markus Enzweiler
82
0
0
03 Nov 2025
T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Chungeng Tian
Ning Hao
Fenghua He
152
9
0
27 Oct 2025
sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
Yuxiang Peng
Chuchu Chen
Kejian Wu
Guoquan Huang
196
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0
11 Oct 2025
Terrain-Aided Navigation Using a Point Cloud Measurement Sensor
Abdülbaki Şanlan
Fatih Erol
Murad Abu-Khalaf
Emre Koyuncu
68
0
0
07 Oct 2025
Reversible Kalman Filter for state estimation with Manifold
Svyatoslav Covanov
Cedric Pradalier
134
1
0
22 Sep 2025
Radar-Based Odometry for Low-Speed Driving
Luis Diener
Jens Kalkkuhl
Markus Enzweiler
211
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0
09 Sep 2025
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Meher V. R. Malladi
Tiziano Guadagnino
Luca Lobefaro
C. Stachniss
254
4
0
08 Sep 2025
Super-LIO: A Robust and Efficient LiDAR-Inertial Odometry System with a Compact Mapping Strategy
Liansheng Wang
Xinke Zhang
Chenhui Li
Dongjiao He
Yihan Pan
Jianjun Yi
175
3
0
06 Sep 2025
Aleatoric Uncertainty from AI-based 6D Object Pose Predictors for Object-relative State Estimation
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Thomas Jantos
Stephan Weiss
J. Steinbrener
127
1
0
01 Sep 2025
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds
Alexander Raab
Stephan Weiss
Alessandro Fornasier
Christian Brommer
Abdalrahman Ibrahim
63
0
0
20 Aug 2025
False Reality: Uncovering Sensor-induced Human-VR Interaction Vulnerability
Yancheng Jiang
Y. Jiang
Ruochen Zhou
Yi-Chao Chen
Xiaoyu ji
Luyi Xing
133
1
0
11 Aug 2025
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold
Dominic Maggio
Hyungtae Lim
Luca Carlone
491
82
0
18 May 2025
Cascade IPG Observer for Underwater Robot State Estimation
IEEE International Conference on Robotics and Automation (ICRA), 2025
Kaustubh Joshi
Tianchen Liu
Nikhil Chopra
326
2
0
21 Apr 2025
RESPLE: Recursive Spline Estimation for LiDAR-Based Odometry
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Ziyu Cao
William Talbot
Kailai Li
357
9
0
15 Apr 2025
HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO
IEEE Transactions on robotics (IEEE TRO), 2025
Giovanni Cioffi
L. Bauersfeld
Davide Scaramuzza
363
0
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01 Apr 2025
Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment
IEEE International Conference on Robotics and Automation (ICRA), 2025
Junlin Song
Antoine Richard
Miguel Olivares-Mendez
266
1
0
23 Feb 2025
Novel computational workflows for natural and biomedical image processing based on hypercomplex algebras
Patterns (Patterns), 2025
Nektarios A. Valous
Eckhard Hitzer
Dragoş Duşe
Rodrigo Rojas Moraleda
Ferdinand Popp
...
Christina C. Westhoff
Bénédicte Lenoir
Niels Halama
Inka Zörnig
Dirk Jäger
567
2
0
11 Feb 2025
EKF-Based Radar-Inertial Odometry with Online Temporal Calibration
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Changseung Kim
Geunsik Bae
Woojae Shin
Sen Wang
Hyondong Oh
331
8
0
02 Feb 2025
KN-LIO: Geometric Kinematics and Neural Field Coupled LiDAR-Inertial Odometry
Zhong Wang
Lele Ren
Yue Wen
Hesheng Wang
AI4CE
299
2
0
08 Jan 2025
4D Radar-Inertial Odometry based on Gaussian Modeling and Multi-Hypothesis Scan Matching
Fernando Amodeo
L. Merino
F. Caballero
612
3
0
18 Dec 2024
An Immediate Update Strategy of Multi-State Constraint Kalman Filter
Qingchao Zhang
W. Ouyang
Jiale Han
Qi Cai
Maoran Zhu
Yuanxin Wu
158
0
0
04 Nov 2024
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024
Hilton Marques Souza Santana
João Carlos Virgolino Soares
Ylenia Nisticò
M. Meggiolaro
Claudio Semini
247
3
0
07 Oct 2024
Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped
Michail Papadakis
Jørgen Anker Olsen
Ioannis Poulakakis
Kostas Alexis
315
0
0
22 Sep 2024
Reinforcement Learning with Lie Group Orientations for Robotics
IEEE International Conference on Robotics and Automation (ICRA), 2024
Martin Schuck
Jan Brüdigam
Sandra Hirche
Angela Schoellig
372
2
0
18 Sep 2024
Enhancing Visual Inertial SLAM with Magnetic Measurements
IEEE International Conference on Robotics and Automation (ICRA), 2024
Bharat Joshi
Ioannis Rekleitis
179
5
0
16 Sep 2024
MR-ULINS: A Tightly-Coupled UWB-LiDAR-Inertial Estimator with Multi-Epoch Outlier Rejection
IEEE Robotics and Automation Letters (RA-L), 2024
Tisheng Zhang
Man Yuan
Linfu Wei
Yan Wang
Hailiang Tang
X. Niu
327
5
0
11 Aug 2024
WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints
Chenxing Jiang
Kunyi Zhang
Shengjie Yang
Shaojie Shen
Chao Xu
Fei Gao
226
1
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14 Jul 2024
MSC-LIO: An MSCKF-Based LiDAR-Inertial Odometry with Same-Plane Cluster Tracking
Tisheng Zhang
Man Yuan
Linfu Wei
Hailiang Tang
X. Niu
508
1
0
10 Jul 2024
Notes on Kalman Filter (KF, EKF, ESKF, IEKF, IESKF)
Gyubeom Im
177
4
0
10 Jun 2024
An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version
Chuan Huang
Gustaf Hendeby
Isaac Skog
200
2
0
04 Jun 2024
Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
IEEE Transactions on Biomedical Engineering (IEEE TBME), 2024
Huanyu Tian
Martin Huber
Christopher E. Mower
Zhe Han
Changsheng Li
Xingguang Duan
Christos Bergeles
201
2
0
09 May 2024
Physical Non-inertial Poser (PNP): Modeling Non-inertial Effects in Sparse-inertial Human Motion Capture
Xinyu Yi
Yuxiao Zhou
Feng Xu
3DH
317
35
0
30 Apr 2024
Tightly-Coupled VLP/INS Integrated Navigation by Inclination Estimation and Blockage Handling
Xiao Sun
Zhuang Yuan
Xiansheng Yang
Jianzhu Huai
Tianming Huang
Daquan Feng
125
4
0
28 Apr 2024
Sky-GVIO: an enhanced GNSS/INS/Vision navigation with FCN-based sky-segmentation in urban canyon
Jingrong Wang
Bo Xu
Rong Jin
Shoujian Zhang
Kefu Gao
Jingnan Liu
160
9
0
17 Apr 2024
Generating 6-D Trajectories for Omnidirectional Multirotor Aerial Vehicles in Cluttered Environments
Peiyan Liu
Yuanzhe Shen
Yueqian Liu
Fengyu Quan
Can Wang
Haoyao Chen
166
1
0
16 Apr 2024
Legged Robot State Estimation within Non-inertial Environments
Zijian He
Sangli Teng
Tzu-Yuan Lin
Maani Ghaffari
Yan Gu
324
8
0
24 Mar 2024
DeRO: Dead Reckoning Based on Radar Odometry With Accelerometers Aided for Robot Localization
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Hoang Viet Do
Yong Hun Kim
J. Lee
M. Lee
J. Song
218
12
0
08 Mar 2024
Dual-IMU State Estimation for Relative Localization of Two Mobile Agents
Wenqian Lai
Ruonan Guo
Kejian J. Wu
254
3
0
28 Feb 2024
Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process
Xin Zheng
Jianke Zhu
411
16
0
14 Feb 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
D. Youm
Hyunsik Oh
Suyoung Choi
Hyeongjun Kim
Jemin Hwangbo
318
14
0
01 Feb 2024
A Mechatronic System for the Visualisation and Analysis of Orchestral Conducting
Courtney Coates
Liao Wu
108
0
0
28 Jan 2024
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization
IEEE Transactions on Intelligent Vehicles (TIV), 2024
Kihoon Shin
Hyunjae Sim
Seungwon Nam
Yonghee Kim
Jae Hu
Kwang-Ki K. Kim
379
9
0
27 Jan 2024
BA-LINS: A Frame-to-Frame Bundle Adjustment for LiDAR-Inertial Navigation
Hailiang Tang
Tisheng Zhang
Liqiang Wang
Man Yuan
Xiaoji Niu
226
7
0
21 Jan 2024
Kinematic Base State Estimation for Humanoid using Invariant Extended Kalman Filter
A. Vedadi
A. Yousefi-Koma
M. Panahi
Mahdi Nozari
250
1
0
05 Jan 2024
High-accuracy Vision-Based Attitude Estimation System for Air-Bearing Spacecraft Simulators
Fabio Ornati
Gianfranco Di Domenico
Paolo Panicucci
Francesco Topputo
101
2
0
13 Dec 2023
MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning
IEEE Sensors Journal (IEEE Sens. J.), 2023
Chuan Huang
Gustaf Hendeby
H. Fourati
Christophe Prieur
Isaac Skog
356
23
0
05 Dec 2023
SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
Computer Vision and Pattern Recognition (CVPR), 2023
Yunfei Fan
Tianyu Zhao
Guidong Wang
430
30
0
04 Dec 2023
Continuous Pose for Monocular Cameras in Neural Implicit Representation
Computer Vision and Pattern Recognition (CVPR), 2023
Qi Ma
D. Paudel
Ajad Chhatkuli
Luc Van Gool
3DH
324
6
0
28 Nov 2023
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