├── Jacobian-derivation.pdf ├── LICENSE ├── README.md ├── data ├── rccar │ ├── framestamps.txt │ ├── gyro.txt │ ├── match_idx.txt │ ├── match_x1.txt │ └── match_x2.txt ├── rotation │ ├── framestamps.txt │ ├── gyro.txt │ ├── match_idx.txt │ ├── match_x1.txt │ └── match_x2.txt └── walk │ ├── framestamps.txt │ ├── gyro.txt │ ├── match_idx.txt │ ├── match_x1.txt │ └── match_x2.txt ├── figs ├── filter.png └── filter2.png └── src ├── config.m ├── ekf_epipolar_analytic.m ├── iekf ├── InEKF_rs_calib_rep.m ├── geodesic_interpolate_rot.m ├── huber_cost.m ├── iekf_update_analytical.m ├── rep_info_meas_analytical.m └── update_inde.m ├── libso3 ├── approxRightJinv.m ├── expSO3.m ├── hat.m ├── invhat.m ├── leftJ.m ├── leftJinv.m ├── logSO3.m ├── lut_bernoullinumber.m ├── para_trans.m ├── rightJ.m └── rightJinv.m ├── main.m ├── main_liu.m ├── opt ├── jac_f3.m ├── jac_f4.m ├── jac_f5.m ├── jac_f8.m └── jac_f9.m └── plot ├── RS_demo_random_draw.m ├── draw_init.m └── draw_res.mat 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