Awesome

msckf-swf-comparison

MATLAB code and data for our CRV 2015 paper, "The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter".

This code was written by Lee Clement and Valentin Peretroukhin. You may contact the authors at lee.clement@robotics.utias.utoronto.ca and valentin.peretroukhin@robotics.utias.utoronto.ca.

If you use this work in your research, please cite the following paper:

@inproceedings{2015_Clement_Battle,
  address = {Halifax, Nova Scotia, Canada},
  author = {Lee Clement and Valentin Peretroukhin and Jacob Lambert and Jonathan Kelly},
  booktitle = {Proceedings of the 12th Conference on Computer and Robot Vision {(CRV)}},
  doi = {10.1109/CRV.2015.11},
  pages = {23--30},
  title = {The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter},
  year = {2015}
}