Proposes computationally efficient closed-form MFD-based attitude filters with right-invariant errors that are almost globally asymptotically stable on SO(3) and retain advantageous Bayesian properties.
InGVIO: A Consistent Invarian t Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry ,
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On Fast Attitude Filtering Using Matrix Fisher Distributions with Stability Guarantee
Proposes computationally efficient closed-form MFD-based attitude filters with right-invariant errors that are almost globally asymptotically stable on SO(3) and retain advantageous Bayesian properties.