PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter
Tong Hua,Tao Li,Ling Pei,Tong Hua,Tao Li,Ling Pei
Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF), which only incorporates rotation-velocity state into the Lie group structure and apply it for Visual-Inertial-Wheel Odometry (VIWO) to improve positioning accura...
