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This paper introduces a square-root inverse sliding window filter (SR-ISWF) for vision-aided inertial navigation systems (VINS) that enhances computational efficiency on mobile devices by using single-precision arithmetic. The proposed algorithm achieves real-time performance and maintains accuracy comparable to state-of-the-art methods, addressing numerical stability issues associated with traditional inverse filters. Experimental results demonstrate significant speed improvements while effectively estimat

Author

vaibhav.sitaraman

Language

EN