# A Novel Federated Structure of Invariant EKF Using Left-/Right-Invariant Observations

> Research article (IEEE Sensors Journal, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4295788752](https://www.wikidata.org/wiki/openalex:W4295788752)  
**Source**: https://4ort.xyz/entity/a-novel-federated-structure-of-invariant-ekf-using-left-right-invariant-observations