Axel Barrau Silvère Bonnabel Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation. 436-449 2015 60 IEEE Trans. Autom. Control. 2 https://doi.org/10.1109/TAC.2014.2342911 https://www.wikidata.org/entity/Q115264639 db/journals/tac/tac60.html#BarrauB15