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eess.SY2015
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…
eess.SY2014
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…