152 citations · 493 across the 22 of their papers we have counts for
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cs.RO2015★ 101 cited
An EKF-SLAM algorithm with consistency properties
Axel Barrau, Silvere Bonnabel
In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove o…
eess.SY2015
An intrinsic Cramér-Rao bound on Lie groups
Silvère Bonnabel, Axel Barrau
In his 2005 paper, S.T. Smith proposed an intrinsic Cramér-Rao bound on the variance of estimators of a parameter defined on a Riemannian manifold. In the present technical note, w…
math.OC2015
An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering
Silvère Bonnabel, Axel Barrau
In this note an intrinsic version of the Cramér-Rao bound on estimation accuracy is established on the Special Orthogonal group . It is intrinsic in the sense that it does n…