… Kalman filter—or, more precisely, the extended Kalman filter (… field of invariant extended
Kalman filtering uses the … to the methodology of invariant Kalman filtering and to allow readers to …

… invariant systems on Lie groups, nonlinear observers may be designed in such a way that the
left-invariant … In Section III, we focus on the invariant extended Kalman filter (IEKF) [6] when …

… (InEKF) extends the Extended Kalman Filter (EKF) by … how the Invariant Extended Kalman
Filter (InEKF) can be … , we derive a Right Invariant Extended Kalman Filter (RInEKF) for general …

… In this article, we derive an invariant extended Kalman filter (InEKF) for a system containing
… over standard quaternion-based extended Kalman filters (QEKFs) owing to superior …

… LEFT INVARIANT EXTENDED KALMAN FILTER We now design a first Invariant Extended
Kalman Filter, which can be seen as a generalization and an improvement of the MEKF. It is a …

… Kalman Filter (UKF) that mainly builds upon two components. First, the recent Lie group
structure of SLAM advocated in the field of invariant filtering… the-art Kalman filter based solutions. …

… Abstract: In the aerospace industry the (multiplicative) extended Kalman filter (EKF) is the …
a slight variant of the EKF, namely the invariant extended Kalman filter (IEKF), when used as a …

… invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have
an advantage over conventional extended Kalman filters as the error dynamics for such filters …

… In this paper, based on a novel Lie group structure, a right invariant extended Kalman
filter (RI-EKF) for object based SLAM is proposed. The observability analysis shows that the …

… This thesis investigates the invariant extended Kalman filter (… -affine process models and
invariant measurement models. In fact… measurement models are often not invariant. The effect of …