Quaternion kinematics for the error-state KF

Joan Solà (1)

1 IRI - Institut de Robòtica i Informàtica Industrial

A tutorial of quaternion algebra, especially suited for the error-state Kalman filter, with the aim of building Visual-Inertial SLAM and odometry systems.

Mots clés: Inertial Measurement Unit; SLAM Visuel; Quaternion; Kalman Filters

Domaines: Intelligence artificielle [cs.AI]; Automatique / Robotique

Joan Solà. Quaternion kinematics for the error-state KF. 2015. ⟨hal-01122406v4⟩