Object-based Visual-Inertial Navigation System on Matrix Lie Group
Jae Hyung Jung,Chan Gook Park,Jae Hyung Jung,Chan Gook Park
In this paper, we propose a novel object-based visual-inertial navigation system fully embedded in a matrix Lie group and built upon the invariant Kalman filtering theory. Specifically, we focus on relative pose measurements of objects and derive an error equation at the associated tangent space. We prove that the observability property does not suffer from the filter inconsistency and nonlinear e...
