47 citations · 79 across the 13 of their papers we have counts for
12 papers · 1 filter
The Iterative Equivariant Filter
Pieter van Goor, James Richard Forbes
This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF) replaces the standard EKF correction step with an iterative correctio…
Equivariant Observer Design on SL(3) for Image Intensity-Based Homography Estimation
Tarek Bouazza, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of homography estimation using a nonlinear observer designed on the Lie group that exploits the full image information through dir…
A Weak Notion of Symmetry for Dynamical Systems
Jake Welde, Pieter van Goor
Many nonlinear dynamical systems exhibit symmetry, affording substantial benefits for control design, observer architecture, and data-driven control. While the classical notion of…
The Geometry of Coordinated Trajectories for Non-stop Flying Carriers Holding a Cable-Suspended Load
Pieter van Goor, Chiara Gabellieri, Antonio Franchi
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometr…
Geometric Data Fusion for Collaborative Attitude Estimation
Yixiao Ge, Behzad Zamani, Pieter van Goor +2
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and re…
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups
Yixiao Ge, Pieter van Goor, Robert Mahony
Stochastic inference on Lie groups plays a key role in state estimation problems such as; inertial navigation, visual inertial odometry, pose estimation in virtual reality, etc. A…