# Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4288391356](https://www.wikidata.org/wiki/openalex:W4288391356)  
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