Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems

arXiv:2609.19742 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Comments: 12 pages, 6 figures, submitted to ICRA 2027

Code: https://github.com/arihantb2/gtsam

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Inertial Navigation Systems — 15× in this paper
• Consistency — 13× in this paper · explained in 3 episodes
• Accuracy — 9× in this paper · explained in 1 episode
• Extended Kalman Filter — 5× in this paper
• Doppler Velocity Log — 3× in this paper
• Average Normalized Estimation Error Squared — 1× in this paper
• Axioms — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Inertial Measurement Unit — 1× in this paper
• International Conference on Robotics and Automation — 1× in this paper

Sources

• The Geometry of Extended Kalman Filters on Manifolds with Affine Connection

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies