@article{invariantstochasticfilteringonse3foriner,
  title = {Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators},
  author = {S. Yaqubi and J. Mattila},
  year = {2026},
  eprint = {2607.00026},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.00026},
}