Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems (opens in new tab)

Accurate extended pose estimation (orientation, velocity, and position) for IMU-instrumented articulated rigid-body systems is a key challenge in robotics and human motion analysis. The invariant extended Kalman filter (IEKF) addresses this problem for a single rigid body with convergence guarantees and consistency under unobservability, but extending these properties to articulated systems is nontrivial: inter-body pose coupling prevents a dire...