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Error State Kalman Filter with Implicit Measurement Equations for Position Tracking of a Multi-Sensor System with IMU and LiDAR

Dominik Ernst, Sören Vogel, Ingo Neumann, Hamza Alkhatib. Error State Kalman Filter with Implicit Measurement Equations for Position Tracking of a Multi-Sensor System with IMU and LiDAR. In 13th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2023, Nuremberg, Germany, September 25-28, 2023. pages 1-6, IEEE, 2023. [doi]

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