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This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter.
Animating rotation with quaternion curves
Shoemake, K. (1985) · 1985
Earlier work this paper cites.
Quaternion kinematic and dynamic differential equations
Chou, J. (1992) · 1992
Earlier work this paper cites.
Survey of attitude representations
Shuster, M. D. (1993) · 1993
Earlier work this paper cites.
Quaternions, interpolation and animation
Dam, E. B., Koch, M., and Lillholm, M. (1998) · 1998
Earlier work this paper cites.
Quaternions and rotation sequences: a primer with applications to orbits, aerospace, and virtual reality
Kuipers, J. B. (1999) · 1999
Earlier work this paper cites.
Indirect Kalman filter for 3D attitude estimation
Trawny, N. and Roumeliotis, S. I. (2005) · 2005
Earlier work this paper cites.
Inertial aiding of inverse depth SLAM using a monocular camera
Piniés, P., Lupton, T., Sukkarieh, S., and Tardós, J. D. (2007) · 2007
Cited alongside, same era.
Efficient integration of inertial observations into visual slam without initialization
Lupton, T. and Sukkarieh, S. (2009) · 2009
Cited alongside, same era.
Origins of the unusual space shuttle quaternion definition
Yazell, D. (2009) · 2009
Cited alongside, same era.
Quaternion algebra and calculus
Eberly, D. (2010) · 2010
Cited alongside, same era.
Extended Kalman Filter vs. Error State Kalman Filter for Aircraft Attitude Estimation
Madyastha, V., Ravindra, V., Mallikarjunan, S., and Goyal, A. (2011) · 2011
Cited alongside, same era.
RT-SLAM: A generic and real-time visual SLAM implementation
Roussillon, C., Gonzalez, A., Solà, J., Codol, J. M., Mansard, N., Lacroix, S., and Devy, M. (2011) · 2011
Later among the works it cites.
Stochastic Models, Information Theory, and Lie Groups
Chirikjian, G. S. (2012) · 2012
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Improving the accuracy of EKF-based visual-inertial odometry
Li, M. and Mourikis, A. (2012) · 2012
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Vision and imu data fusion: Closed-form solutions for attitude, speed, absolute scale, and bias determination
Martinelli, A. (2012) · 2012
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High-fidelity sensor modeling and self-calibration in vision-aided inertial navigation
Li, M., Yu, H., Zheng, X., and Mourikis, A. (2014) · 2014
Later among the works it cites.
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