Matlab code used for the paper "Unscented Kalman Filtering on Lie Groups for Fusion of IMU and Monocular Vision", submitted to International Conference on Robotics and Automation (ICRA) 2018. PDF

EUROC datasets are available here.

Authors: Martin Brossard, Silvère Bonnabel, and Axel Barrau

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