Left- and right-invariant extended Kalman filters on matrix Lie groups produce identical state estimates when the filter uses a full-order covariance reset after each measurement.
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Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
Left- and right-invariant extended Kalman filters on matrix Lie groups produce identical state estimates when the filter uses a full-order covariance reset after each measurement.