@article{equivariantfiltertransformationsforconsi,
  title = {Equivariant Filter Transformations for Consistent and Efficient Visual--Inertial Navigation},
  author = {Chungeng Tian and Fenghua He and Ning Hao},
  year = {2026},
  eprint = {2603.24130},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.24130},
}