A micro Lie theory for state estimation in robotics

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V. Ila, L. Polok, M. Solony, and P. Svoboda, “SLAM++ - a highly efficient and temporally scalable incremental SLAM framework,” The International Journal of Robotics Research , vol. 36, no. 2, pp. 210–230, 2017. [Online]. Available: https://doi.org/10.1177/0278364917691110

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J. Deray and J. Solà, “Manif: A micro lie theory library for state estimation in robotics applications,” Journal of Open Source Software , vol. 5, no. 46, p. 1371, 2020. [Online]. Available: https://doi.org/10.21105/joss.01371

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