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The Iterative Equivariant Filter
This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF) replaces the standard EKF correction step with an iterative correction step that is the Gauss-Newton solution to a nonlinear weighted least squares problem. The standard equivariant filter (EqF) exploits and respects the underlying symmetry of state estimation problems posed on homogeneous spaces and Lie groups. The motivation behind the IterEqF is to combine the features of both the IterEKF and the EqF, thus leading to a high-performance state estimation solution that is well suited
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-11T01:22:37.000Z
First collected: 2026-09-20T18:42:18.733Z. This is not the publication date.