16 citations · 27 across the 6 of their papers we have counts for
8 papers
Equivariant Filters are Equivariant
Hiya Gada, Pieter van Goor, Ravi Banavar +1
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, an…
Equivariant Filter Design for Discrete-time systems
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many nonlinear control systems, especially in the robotics field, admit a transitive Lie-group symmetry, which is useful in high performance observer design. The…
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces
Pieter van Goor, Tarek Hamel, Robert Mahony
The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces:…
Attitude Observation for Second Order Attitude Kinematics
Yonhon Ng, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly usef…
An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor, Robert Mahony
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the exte…
Event Camera Calibration of Per-pixel Biased Contrast Threshold
Ziwei Wang, Yonhon Ng, Pieter van Goor +1
Event cameras output asynchronous events to represent intensity changes with a high temporal resolution, even under extreme lighting conditions. Currently, most of the existing wor…