152 citations · 493 across the 22 of their papers we have counts for
4 papers · 1 filter
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…
Differentiable short-time Fourier transform with respect to the hop length
Maxime Leiber, Yosra Marnissi, Axel Barrau +1
In this paper, we propose a differentiable version of the short-time Fourier transform (STFT) that allows for gradient-based optimization of the hop length or the frame temporal po…
Differentiable adaptive short-time Fourier transform with respect to the window length
Maxime Leiber, Yosra Marnissi, Axel Barrau +1
This paper presents a gradient-based method for on-the-fly optimization for both per-frame and per-frequency window length of the short-time Fourier transform (STFT), related to pr…
Speeding up backpropagation of gradients through the Kalman filter via closed-form expressions
Colin Parellier, Axel Barrau, Silvere Bonnabel
In this paper we provide novel closed-form expressions enabling differentiation of any scalar function of the Kalman filter's outputs with respect to all its tuning parameters and…