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Unscented Kalman filtering on Lie groups

Martin Brossard, Silvere Bonnabel, Jean-Philippe Condomines. Unscented Kalman filtering on Lie groups. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017. pages 2485-2491, IEEE, 2017. [doi]

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