96 citations · 113 across the 4 of their papers we have counts for
4 papers · 1 filter
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…
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…
Invariant Smoothing on Lie Groups
Paul Chauchat, Axel Barrau, Silvère Bonnabel
In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a parti…