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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 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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Invariant Smoothing on Lie Groups

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

* Accepted for publication at IROS 2018 

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On the Covariance of ICP-based Scan-matching Techniques

Mar 16, 2016
Silvère Bonnabel, Martin Barczyk, François Goulette

* Accepted at 2016 American Control Conference 

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Robust multirobot coordination using priority encoded homotopic constraints

Aug 04, 2015
Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle

* 21 pages, in revision for publication in System & Control Letters 

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Invariant EKF Design for Scan Matching-aided Localization

Mar 04, 2015
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette


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An Invariant Linear Quadratic Gaussian controller for a simplified car

Jun 18, 2014
Sébastien Diemer, Silvère Bonnabel


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Priority-based intersection management with kinodynamic constraints

May 05, 2014
Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle

* to be presented at ECC2014; 6 pages 

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Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM

Mar 20, 2014
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette

* Proceedings of the 2014 American Control Conference, Portland, OR, June 2014, pp. 4121-4126 

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An anisotropy preserving metric for DTI processing

Oct 10, 2012
Anne Collard, Silvère Bonnabel, Christophe Phillips, Rodolphe Sepulchre


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Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering

May 16, 2012
Thibault Hervier, Silvère Bonnabel, François Goulette

* Submitted to IROS 2012. 8 pages 

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