An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor Robert Mahony Pieter van Goor Robert Mahony
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the extended Kalman Filter remain popular in VIO due to their low memory requirements, CPU usage, and processing time when compared to optimisation-based methods. In this paper, we analyse the VIO problem from a geometric perspe...