Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Invariant-EKF VINS Algorithm for Improving Consistency   The main contribution of this paper is an invariant extended Kalman filter
(EKF) for visual inertial navigation systems (VINS). It is demonstrated that
the conventional EKF based VINS is not invariant under the stochastic
unobservable transformation, associated with translations and a rotation about
the gravitational direction. This can lead to inconsistent state estimates as
the estimator does not obey a fundamental property of the physical system. To
address this issue, we use a novel uncertainty representation to derive a Right
Invariant error extended Kalman filter (RIEKF-VINS) that preserves this
invariance property. RIEKF-VINS is then adapted to the multistate constraint
Kalman filter framework to obtain a consistent state estimator. Both Monte
Carlo simulations and real-world experiments are used to validate the proposed
method.

15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
12
The categories of this paper are: nucl-th
26
The categories of this paper are: bayes-an
23
The categories of this paper are: solv-int
16
The categories of this paper are: stat
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
3
The categories of this paper are: physics
19
The categories of this paper are: eess
33
The categories of this paper are: plasm-ph
17
The categories of this paper are: q-fin