@article{invariantkalmanfilteringwithnoisefree,
  title = {Invariant Kalman Filtering with Noise-Free Pseudo-Measurements},
  author = {Sven Goffin and Silvère Bonnabel and Olivier Brüls and Pierre Sacré},
  year = {2024},
  eprint = {2404.10687},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2404.10687v1},
}