4 papers
Blending of Learning-based Tracking and Object Detection for Monocular Camera-based Target Following
Pranoy Panda, Martin Barczyk
Deep learning has recently started being applied to visual tracking of generic objects in video streams. For the purposes of robotics applications, it is very important for a targe…
Invariant EKF Design for Scan Matching-aided Localization
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud +1
Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtaine…
On the Covariance of ICP-based Scan-matching Techniques
Silvère Bonnabel, Martin Barczyk, François Goulette
This paper considers the problem of estimating the covariance of roto-translations computed by the Iterative Closest Point (ICP) algorithm. The problem is relevant for localization…
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud +1
We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF an…