MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation
Alessandro Fornasier,
Pieter van Goor,
Eren Allak
et al.
Abstract: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 the well known MSCKF). We define a symmetry group and corresponding group action that allow specifically the design of an equivariant filter for the problem of visualinertial odometry (VIO) including IMU bias, and camera intrinsic and extrinsic calibration states. In contrast to state-of-the-art invariant extended Kalman fil… Show more
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