96 citations · 195 across the 7 of their papers we have counts for
7 papers
Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm
Paul Chauchat, Silvère Bonnabel, Axel Barrau
We consider the problem of observer design for a nonholonomic car (more generally a wheeled robot) equipped with wheel speeds with unknown wheel radius, and whose position is measu…
Invariant Smoothing for Localization: Including the IMU Biases
Paul Chauchat, Silvère Bonnabel, Axel Barrau
In this article we investigate smoothing (i.e., optimisation-based) estimation techniques for robot localization using an IMU aided by other localization sensors. We more particula…
Invariant Smoothing with low process noise
Paul Chauchat, Silvere Bonnabel, Axel Barrau
In this paper we address smoothing-that is, optimisation-based-estimation techniques for localisation problems in the case where motion sensors are very accurate. Our mathematical…
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization
Paul Chauchat, Axel Barrau, Silvère Bonnabel
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as na…
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
Martin Brossard, Axel Barrau, Paul Chauchat +1
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extend…
Geomstats: A Python Package for Riemannian Geometry in Machine Learning
Nina Miolane, Alice Le Brigant, Johan Mathe +16
We introduce Geomstats, an open-source Python toolbox for computations and statistics on nonlinear manifolds, such as hyperbolic spaces, spaces of symmetric positive definite matri…