Consistent Cooperative Visual-Inertial Navigation based on Matrix Lie Group
Date:
In this talk, I introduce a consistent cooperative visual-inertial navigation framework based on Matrix Lie Group theory. The proposed approach enables multiple agents to achieve accurate and robust state estimation by fusing visual and inertial measurements in a cooperative manner. I discuss the theoretical foundations, algorithmic design, and experimental validation on real-world robotic platforms, highlighting improvements in consistency and scalability for multi-agent navigation.