mbrossar / Fusion2018
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Matlab code used for the paper " Invariant Kalman Filtering for Visual Inertial SLAM"
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Matlab code used for the paper: M. Brossard, S. Bonnabel and A. Barrau, Invariant Kalman Filtering for Visual Inertial SLAM, 21st International Conference on Information Fusion (FUSION), pp. 2021--2028, 2018. [IEEE paper, HAL paper]
EUROC datasets are available here.
The Matlab code is written in a clear manner, and since not in computationnaly optimized or implementable manner.
Please contact the corresponding author at [email protected]
Citation
If you use this code in your research, please cite:
@INPROCEEDINGS{2018_Brossard_Invariant,
author = {Martin Brossard, Silvère Bonnabel, and Axel Barrau},
booktitle={2018 21st International Conference on Information Fusion (FUSION)},
title={Invariant Kalman Filtering for Visual Inertial SLAM},
year={2018},
pages={2021-2028},
doi={10.23919/ICIF.2018.8455807},
month={July},}
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