Schur Complement Optimized Iterative EKF for Visual–Inertial Odometry in Autonomous Vehicles

Schur Complement Optimized Iterative EKF for Visual–Inertial Odometry in Autonomous Vehicles

Accuracy and nonlinear processing capabilities are critical to the positioning and navigation of autonomous vehicles in visual–inertial odometry (VIO). Existing filtering-based VIO methods struggle to deal with strongly nonlinear systems and often exhibit low precision. To this end, this paper propo...

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Bibliographic Details
Main Authors: Guo Ma, Cong Li, Hui Jing, Bing Kuang, Ming Li, Xiang Wang, Guangyu Jia
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Machines
Subjects:
autonomous vehicles
VIO
IEKF
Schur complement
MLP
transformer
Online Access:https://www.mdpi.com/2075-1702/13/7/582
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