@article{teskftransformederrorstatekalmanfilterfo,
  title = {T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation},
  author = {Chungeng Tian and Ning Hao and Fenghua He},
  year = {2025},
  eprint = {2510.23359},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.23359},
}