This observer was coded based on the results given in the paper https://www.researchgate.net/publication/329325499_Geometric_Nonlinear_Observer_Design_for_SLAM_on_a_Matrix_Lie_Group
This code contains a python based simulation of a non linear observer to estimate the global pose of a UAV and the absolute locations of some surrounding landmarks, using some relative measurements taken from a camera and an IMU.
We tested the performance of the observer for a UAV moving with a biased angular velociy denoted w in the code and a translational velocity denoted v in the code.