62 citations · 65 across the 5 of their papers we have counts for
5 papers
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of th…
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay +1
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result o…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…