A cascaded observer combining a globally exponentially stable Riccati filter and an almost-globally stable SO(3) complementary filter estimates velocity, gravity, and attitude from optical flow and IMU measurements.
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Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
A cascaded observer combining a globally exponentially stable Riccati filter and an almost-globally stable SO(3) complementary filter estimates velocity, gravity, and attitude from optical flow and IMU measurements.