Ultrafast Square-Root Filter-based VINS
Yuxiang Peng,Chuchu Chen,Guoquan Huang,Yuxiang Peng,Chuchu Chen,Guoquan Huang
In this paper, we strongly advocate square-root covariance (instead of information) filtering for Visual-Inertial Navigation Systems (VINS), in particular on resource-constrained edge devices, because of its superior efficiency and numerical stability. Although VINS have made tremendous progress in recent years, they still face resource stringency and numerical instability on embedded systems when...
