Categories Code EqVIO Paper and Code GIFT: General Invariant Feature Tracker Papers EqVIO Paper and Code A New Paper Accepted at IFAC Talks Presentation for CDC 2020 Ardupilot Conference Presentation: EqF VIO Mathematics The Indefinite Orthogonal Group O(1,2) The 2D Special Linear Group SL(2) The 2D Special Euclidean Group SE(2) The Non-Zero Quaternions as a Lie Group The Unscented Transform The Lie-Theoretic Exponential is Not Surjective in General