Adaptive invariant Kalman filtering for lie groups attitude estimation with biased and heavy-tailed process noise - researchr publication

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Jiaolong Wang, Chengxi Zhang, Jinyu Liu, Caisheng Wei, Haitao Liu. Adaptive invariant Kalman filtering for lie groups attitude estimation with biased and heavy-tailed process noise. Trans. Inst. Meas. Control, 45(2):249-260, 2023. [doi]

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