43 citations · 63 across the 21 of their papers we have counts for
5 papers · 1 filter
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…
Exploiting spatial group error and synchrony for a unicycle tracking controller
Matthew Hampsey, Pieter van Goor, Robert Mahony
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of t…
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence
Pieter van Goor, Tarek Hamel, Robert Mahony
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as…
A Note on the Extended Kalman Filter on a Manifold
Yixiao Ge, Pieter van Goor, Robert Mahony
The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kal…
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…