Collaborative mapping of an earthquake-damaged building via ground and aerial robots, Journal of Field Robotics, vol.57, issue.1-4, pp.832-841, 2012. ,
DOI : 10.1007/s10846-009-9358-2
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight, IEEE Robotics and Automation Letters, vol.3, issue.2, pp.965-972, 2018. ,
DOI : 10.1109/LRA.2018.2793349
Unscented Kalman filtering on Lie groups, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. ,
DOI : 10.1109/IROS.2017.8206066
URL : https://hal.archives-ouvertes.fr/hal-01489204
An EKF-SLAM algorithm with consistency properties, Conditionally accepted in IEEE Transactions on Robotics, 2015. ,
Observability-constrained vision-aided inertial navigation, 2012. ,
An invariant-EKF VINS algorithm for improving consistency, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. ,
DOI : 10.1109/IROS.2017.8205965
Visual inertial odometry for quadrotors on SE(3), 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.1544-1551, 2016. ,
DOI : 10.1109/ICRA.2016.7487292
High-precision, consistent EKF-based visual-inertial odometry, The International Journal of Robotics Research, vol.141, issue.6, pp.690-711, 2013. ,
DOI : 10.1109/PLANS.2010.5507246
A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.3565-3572, 2007. ,
DOI : 10.1109/ROBOT.2007.364024
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration, The International Journal of Robotics Research, vol.141, issue.1, pp.56-79, 2011. ,
DOI : 10.1007/978-0-387-74066-9
On-Manifold Preintegration for Real-Time Visual--Inertial Odometry, IEEE Transactions on Robotics, vol.33, issue.1, pp.1-21, 2017. ,
DOI : 10.1109/TRO.2016.2597321
Keyframe-based visual???inertial odometry using nonlinear optimization, The International Journal of Robotics Research, vol.34, issue.3, pp.314-334, 2015. ,
DOI : 10.1109/ICRA.2012.6225147
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator ArXiv e-prints, 2017. ,
Towards consistent visualinertial navigation, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.4926-4933, 2014. ,
Camera-IMU-based localization: Observability analysis and consistency improvement, The International Journal of Robotics Research, vol.41, issue.4, pp.182-201, 2014. ,
DOI : 10.1109/ICRA.2011.5980291
A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM, IEEE Transactions on Robotics, vol.29, issue.5, pp.1226-1243, 2013. ,
DOI : 10.1109/TRO.2013.2267991
The Invariant Extended Kalman Filter as a Stable Observer, IEEE Transactions on Automatic Control, vol.62, issue.4, pp.1797-1812, 2017. ,
DOI : 10.1109/TAC.2016.2594085
URL : https://hal.archives-ouvertes.fr/hal-01692380
Invariant Kalman Filtering, Annual Review of Control, Robotics, and Autonomous Systems, vol.1, issue.1, 2018. ,
DOI : 10.1146/annurev-control-060117-105010
URL : https://hal.archives-ouvertes.fr/hal-01982804
Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems, IEEE Transactions on Robotics, vol.30, issue.3, pp.679-693, 2014. ,
DOI : 10.1109/TRO.2014.2298059
Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM, IEEE Robotics and Automation Letters, vol.2, issue.2, pp.733-740, 2017. ,
DOI : 10.1109/LRA.2017.2651376
Stochastic Models, Information Theory, and Lie Groups Analytic Methods and Modern Applications. Applied and Numerical Harmonic Analysis, 2011. ,
Unscented Kalman Filtering on Riemannian Manifolds, Journal of Mathematical Imaging and Vision, vol.14, issue.1, pp.103-120, 2013. ,
DOI : 10.1137/0714039
Comment on "A new method for the nonlinear transformation of means and covariances in filters and estimators" [with authors' reply], IEEE Transactions on Automatic Control, vol.47, issue.8, pp.1406-1409, 2002. ,
DOI : 10.1109/TAC.2002.800742
The EuRoC MAV datasets, The International Journal of Robotics Research, 2015. ,
Continuous-Discrete Extended Kalman Filter on Matrix Lie Groups Using Concentrated Gaussian Distributions, Journal of Mathematical Imaging and Vision, vol.2, issue.11???12, pp.209-228, 2015. ,
DOI : 10.18409/jas.v2i1.11
URL : https://hal.archives-ouvertes.fr/hal-01311170
Metrics and Connections for Rigid-Body Kinematics, International Journal of Robotics Research, vol.18, issue.2, pp.243-258, 1999. ,
DOI : 10.1177/02783649922066187
Symmetries in Observer Design: Review of Some Recent Results and Applications to EKF-based SLAM, Robot Motion and Control, pp.3-15, 2011. ,
DOI : 10.1007/978-1-4471-2343-9_1