It is important to remark that this alternative EKF implementation, which removes the rotation element 𝐪NB from the state vector and instead relies on the local tangent space perturbation 𝛥𝐫BNB, avoids the use of (17), whose integration in the classical EKF scheme considers the unit quat...
It is necessary to remark that, as indicated in Section 6, the inertial estimations (denoted by the subindex n) operate at a much higher rate than the visual ones (denoted by the subindex i). 5.1. Rationale for the Introduction of Priors The prior based pose optimization process starts by...