Figure 8From: Augmented Reality for Art, Design and Cultural Heritage—System Design and EvaluationThe measurement update step of the two implemented error-state Kalman filters. Received measurements are ordered in time, both filters and states are rolled back to the time of measurement t, and all measurements since then are reprocessed. Position and orientation measurements are used to estimate the current error states. The error states are immediately transferred to the real states.Back to article page