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Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization


Sep 22, 2020
Paul Chauchat, Axel Barrau, Silvère Bonnabel

* IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2020, pp.1-14 

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Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth


Jul 28, 2020
Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel


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A Code for Unscented Kalman Filtering on Manifolds (UKF-M)


Mar 11, 2020
Martin Brossard, Axel Barrau, Silvere Bonnabel

* International Conference on Robotics and Automation (ICRA), May 2020, Paris, France 

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Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation


Feb 25, 2020
Martin Brossard, Silvere Bonnabel, Axel Barrau


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Generalized mean shift with triangular kernel profile


Jan 07, 2020
SĂ©bastien Razakarivony, Axel Barrau


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A New Approach to 3D ICP Covariance Estimation for Mobile Robotics


Sep 12, 2019
Martin Brossard, Silvère Bonnabel, Axel Barrau


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AI-IMU Dead-Reckoning


Apr 12, 2019
Martin Brossard, Axel Barrau, Silvère Bonnabel


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Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM


Mar 13, 2019
Martin Brossard, Axel Barrau, Silvère Bonnabel


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RINS-W: Robust Inertial Navigation System on Wheels


Mar 06, 2019
Martin Brossard, Axel Barrau, Silvere Bonnabel


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Invariant Smoothing on Lie Groups


Aug 05, 2018
Paul Chauchat, Axel Barrau, Silvère Bonnabel

* Accepted for publication at IROS 2018 

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An EKF-SLAM algorithm with consistency properties


Sep 02, 2016
Axel Barrau, Silvere Bonnabel

* Submitted 

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Intrinsic filtering on Lie groups with applications to attitude estimation


Sep 12, 2014
Axel Barrau, Silvere Bonnabel

* Submitted 

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