Matlab code used for the paper: M. Brossard, S. Bonnabel and A. Barrau, Invariant Kalman Filtering for Visual Inertial SLAM, 21st International Conference on Information Fusion (FUSION), pp. 2021--2028, 2018. [IEEE paper, HAL paper]

EUROC datasets are available here.

The Matlab code is written in a clear manner, and since not in computationnaly optimized or implementable manner.

Please contact the corresponding author at martin.brossard@mines-paristech.fr

Citation

If you use this code in your research, please cite:

@INPROCEEDINGS{2018_Brossard_Invariant,
  author = {Martin Brossard, Silvère Bonnabel, and Axel Barrau},
  booktitle={2018 21st International Conference on Information Fusion (FUSION)},
  title={Invariant Kalman Filtering for Visual Inertial SLAM},
  year={2018},
  pages={2021-2028},
  doi={10.23919/ICIF.2018.8455807},
  month={July},}