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An Invariant-EKF VINS Algorithm for Improving Consistency

Mar 01, 2017
Teng Zhang, Kanzhi Wu, Daobilige Su, Shoudong Huang, Gamini Dissanayake

* submitted to The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) 

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Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

Feb 22, 2017
Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Gamini Dissanayake

* IEEE Robotics and Automation Letters (Volume: 2, Issue: 2, April 2017) 

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RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature

Sep 19, 2016
Kanzhi Wu, Xiaoyang Li, Ravindra Ranasinghe, Gamini Dissanayake, Yong Liu

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