{"id":"https://openalex.org/W4388919376","doi":"https://doi.org/10.1109/lra.2023.3335775","title":"MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation","display_name":"MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation","publication_year":2023,"publication_date":"2023-11-22","ids":{"openalex":"https://openalex.org/W4388919376","doi":"https://doi.org/10.1109/lra.2023.3335775"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3335775","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335775","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10325586.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10325586.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088855536","display_name":"Alessandro Fornasier","orcid":"https://orcid.org/0000-0002-1774-3236"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Alessandro Fornasier","raw_affiliation_strings":["Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022864763","display_name":"Pieter van Goor","orcid":"https://orcid.org/0000-0003-4391-7014"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Pieter van Goor","raw_affiliation_strings":["System Theory and Robotics Lab, Australian National University, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"System Theory and Robotics Lab, Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074549194","display_name":"Eren Allak","orcid":"https://orcid.org/0009-0004-5248-2862"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Eren Allak","raw_affiliation_strings":["Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011097720","display_name":"Robert Mahony","orcid":"https://orcid.org/0000-0002-7803-2868"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Robert Mahony","raw_affiliation_strings":["System Theory and Robotics Lab, Australian National University, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"System Theory and Robotics Lab, Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I4210166741","display_name":"University of Klagenfurt","ror":"https://ror.org/05q9m0937","country_code":"AT","type":"education","lineage":["https://openalex.org/I4210166741"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria"],"affiliations":[{"raw_affiliation_string":"Control of Networked Systems Group, University of Klagenfurt, Klagenfurt, Austria","institution_ids":["https://openalex.org/I4210166741"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088855536"],"corresponding_institution_ids":["https://openalex.org/I4210166741"],"apc_list":null,"apc_paid":null,"fwci":11.4952,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97891836,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"731","last_page":"738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5515397787094116},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.5183606743812561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4843517541885376},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4440639615058899},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.44305723905563354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4406711757183075},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4147733747959137},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4070824980735779},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38145965337753296},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37101268768310547},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.16757887601852417},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14949706196784973}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5515397787094116},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.5183606743812561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4843517541885376},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4440639615058899},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.44305723905563354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4406711757183075},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4147733747959137},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4070824980735779},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38145965337753296},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37101268768310547},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.16757887601852417},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14949706196784973}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3335775","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335775","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10325586.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3335775","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335775","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10325586.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1141088940","display_name":null,"funder_award_id":"871260","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4956428346","display_name":null,"funder_award_id":"Horizon 2020 research and innovatio","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5597833259","display_name":null,"funder_award_id":"Cooperative","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6535601879","display_name":null,"funder_award_id":"W911NF-21-2-0245","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388919376.pdf","grobid_xml":"https://content.openalex.org/works/W4388919376.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1570939900","https://openalex.org/W1943808550","https://openalex.org/W1976456943","https://openalex.org/W2033819227","https://openalex.org/W2051349034","https://openalex.org/W2051536971","https://openalex.org/W2118223742","https://openalex.org/W2118428504","https://openalex.org/W2158090912","https://openalex.org/W2215394929","https://openalex.org/W2279625569","https://openalex.org/W2396274919","https://openalex.org/W2592781794","https://openalex.org/W2791039528","https://openalex.org/W2793832680","https://openalex.org/W2797395780","https://openalex.org/W2883702102","https://openalex.org/W2887699334","https://openalex.org/W2935018905","https://openalex.org/W2968243907","https://openalex.org/W2971234095","https://openalex.org/W3000625188","https://openalex.org/W3034834215","https://openalex.org/W3091667825","https://openalex.org/W3098486636","https://openalex.org/W3100279521","https://openalex.org/W3120897329","https://openalex.org/W3155827459","https://openalex.org/W3184407755","https://openalex.org/W3205297214","https://openalex.org/W3206964212","https://openalex.org/W4206221290","https://openalex.org/W4285102326","https://openalex.org/W4285102531","https://openalex.org/W4288059702","https://openalex.org/W4306248495","https://openalex.org/W4319459257","https://openalex.org/W4383899755","https://openalex.org/W4386555376","https://openalex.org/W6688465322","https://openalex.org/W6695250641","https://openalex.org/W6778985294","https://openalex.org/W6856167774"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W2162299404","https://openalex.org/W2103062922"],"abstract_inverted_index":{"This":[0,162],"letter":[1],"re-visits":[2],"the":[3,18,34,50,57,93,109,112,127,149],"problem":[4,58],"of":[5,52,59,187],"visual-inertial":[6],"navigation":[7],"system":[8],"(VINS)":[9],"and":[10,43,67,70,89,172],"presents":[11],"a":[12,40,103,185],"novel":[13],"filter":[14,25,55,81,100],"design":[15,51],"we":[16,116],"dub":[17],"multi":[19],"state":[20,133,174],"constraint":[21],"<italic":[22,27,137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[23,28,95,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">equivariant</i>":[24],"(MSC":[26],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">EqF</i>":[29],",":[30],"in":[31,111],"analogy":[32],"to":[33,76,164],"well":[35],"known":[36],"MSCKF).":[37],"We":[38,180],"define":[39],"symmetry":[41,104],"group":[42,45,113],"corresponding":[44],"action":[46],"that":[47,84,105],"allow":[48],"specifically":[49],"an":[53],"equivariant":[54],"for":[56,151,169],"visual":[60],"inertia":[61],"lodometry":[62],"(VIO)":[63],"including":[64],"IMU":[65,87],"bias,":[66],"camera":[68],"intrinsic":[69],"extrinsic":[71],"calibration":[72],"states.":[73],"In":[74],"contrast":[75],"state-of-the-art":[77],"invariant":[78],"extended":[79],"Kalman":[80],"(IEKF)":[82],"approaches":[83],"simply":[85],"tack":[86],"bias":[88],"other":[90,158],"states":[91,110],"onto":[92],"<inline-formula":[94],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[96],"notation=\"LaTeX\">$SE_{2}(3)$</tex-math></inline-formula>":[97],"group,":[98],"our":[99,182],"builds":[101],"upon":[102,132],"properly":[106],"includes":[107],"all":[108],"structure.":[114],"Thus,":[115],"achieve":[117],"improved":[118,166],"behavior,":[119],"particularly":[120],"when":[121],"linearization":[122],"points":[123],"largely":[124],"deviate":[125],"from":[126,145],"truth":[128],"(i.e.,":[129],"on":[130],"transients":[131],"disturbances)Our":[134],"approach":[135,183],"is":[136],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">inherently":[139],"consistent</i>":[140],"even":[141],"during":[142],"convergence":[143],"phases":[144],"significant":[146,170],"errors":[147],"without":[148],"need":[150],"error":[152,171],"uncertainty":[153],"adaptation,":[154],"observability":[155],"constraint,":[156],"or":[157],"consistency":[159],"enforcing":[160],"techniques.":[161],"leads":[163],"greatly":[165],"estimator":[167],"behavior":[168],"unexpected":[173],"changes":[175],"during,":[176],"e.g.,":[177],"long-duration":[178],"missions.":[179],"evaluate":[181],"with":[184],"multitude":[186],"different":[188,192],"experiments":[189],"using":[190],"three":[191],"prominent":[193],"real-world":[194],"datasets.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}