Published in
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.1109/iros.2017.8205965
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An invariant-EKF VINS algorithm for improving consistency
Proceedings article published in 2017 by
Kanzhi Wu,
Teng Zhang,
Daobilige Su,
Shoudong Huang 
,
Gamini Dissanayake
,
Gamini Dissanayake
This paper is available in a repository.
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