Delta Filter - Robust Visual-Inertial Pose Estimation in Real-Time: A Multi-Trajectory Filter on a Spherical Mobile Mapping System. - Fabian Arzberger; Fabian Wiecha; Jasper Zevering; Julian Rothe; Dorit Borrmann; Sergio Montenegro 001; Andreas Nüchter (ECMR, 2023)

Delta- and Kalman-filter designs for multi-sensor pose estimation on spherical mobile mapping systems. - Fabian Arzberger; Tim Schubert; Fabian Wiecha; Jasper Zevering; Julian Rothe; Dorit Borrmann; Sergio Montenegro 001; Andreas Nüchter (Robotics Auton. Syst., 2025)