# MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4388919376](https://www.wikidata.org/wiki/openalex:W4388919376)  
**Source**: https://4ort.xyz/entity/msceqf-a-multi-state-constraint-equivariant-filter-for-vision-aided-inertial-navigation