Error-State Kalman Filter based Visual-Inertial Odometry Using Orientation Measurement on Unit Quaternion Group

Chao-Wei ChangFeng-Li Lian2025-03-252025-03-252024-10-14979-835037770-521530858https://www.scopus.com/record/display.uri?eid=2-s2.0-85216474063&origin=recordpagehttps://scholars.lib.ntu.edu.tw/handle/123456789/726060falseError-State Kalman Filter based Visual-Inertial Odometry Using Orientation Measurement on Unit Quaternion Groupconference paper10.1109/iros58592.2024.108015652-s2.0-85216474063