43 citations · 63 across the 21 of their papers we have counts for
7 papers · 1 filter
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
The Difference between the Left and Right Invariant Extended Kalman Filter
Yixiao Ge, Giulio Delama, Martin Scheiber +4
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent dev…
Equivariant Filter Design for Range-only SLAM
Yixiao Ge, Arthur Pearce, Pieter van Goor +1
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in t…
Equivariant IMU Preintegration with Biases: a Galilean Group Approach
Giulio Delama, Alessandro Fornasier, Robert Mahony +1
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial…
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation
Alessandro Fornasier, Pieter van Goor, Eren Allak +2
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in an…
Equivariant Symmetries for Inertial Navigation Systems
Alessandro Fornasier, Yixiao Ge, Pieter van Goor +2
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the…