NANO-L is a natural-gradient Gaussian approximation filter on Lie groups that avoids linearization by optimizing multiplicative increments via the exponential map, yielding exact covariance updates for invariant models and 40% lower error on hardware.
Fast-lio: A fast, robust lidar-inertial odometry package by tightly-coupled iterated Kalman filter
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Natural Gradient Gaussian Approximation Filter on Lie Groups for Robot State Estimation
NANO-L is a natural-gradient Gaussian approximation filter on Lie groups that avoids linearization by optimizing multiplicative increments via the exponential map, yielding exact covariance updates for invariant models and 40% lower error on hardware.