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cs.CV2014
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…
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…