… novel robocentric formulation of the visual–inertial navigation … an efficient, lightweight,
robocentric visual–inertial odometry (R-… As an immediate advantage of this robocentric …

… efficient approach for realizing robocentric visual-inertial odometry which offers consistent
observability properties for probabilistic state estimator. Our robocentric models, including IMU …

… to Visual-Inertial Odometry, we enhance the ego-motion estimation system by incorporating
a robocentric … Subsequently, we dig further into the formulation of the robocentric IEKF in …

… In this paper, we propose the first end-to-end trainable visual-inertial odometry (VIO) …
an end-to-end trainable method for Visual Inertial Odometry. Our approach used a robo-centric …

… adapt the structure of the standard visual-inertial EKF-SLAM for… A purely robocentric
representation of the full filter state is … fully robocentric and direct monocular visual-inertial …

… the robocentric VINS formulation as opposed to the commonly-used world-centric formulation,
and develop the corresponding robocentric visual-inertial odometry (R-… -based robocentric …

… of multi-robot cooperative visual-inertial localization where each robot is equipped with
only a single camera and IMU. We develop two cooperative visual-inertial odometry (C-VIO) …

… visual-inertial odometry. All in all, this paper describes a fully robocentric and direct visual-inertial
odometry … Our framework, which we refer to as Rovio (robust visual-inertial odometry), …

… Robocentric Formulation The robocentric VINS is … and a composition step for shifting the
robocentric frames [26], which are … Square-root robocentric visual-inertial odometry with online …

… In Section III-C, we review the robocentric EKF for VIO. Finally, in Section III-D, we present …
, the camera reference frame at time k, the robocentric reference frame at time k, and the IMU …