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math.OC2011★ 359 cited
Stochastic gradient descent on Riemannian manifolds
Silvere Bonnabel
Stochastic gradient descent is a simple approach to find the local minima of a cost function whose evaluations are corrupted by noise. In this paper, we develop a procedure extendi…
math.OC2011
Symmetries in observer design: review of some recent results and applications to EKF-based SLAM
Silvere Bonnabel
In this paper, we first review the theory of symmetry-preserving observers and we mention some recent results. Then, we apply the theory to Extended Kalman Filter-based Simultaneou…