359 citations · 1.4k across the 40 of their papers we have counts for
4 papers · 1 filter
On the Covariance of ICP-based Scan-matching Techniques
Silvère Bonnabel, Martin Barczyk, François Goulette
This paper considers the problem of estimating the covariance of roto-translations computed by the Iterative Closest Point (ICP) algorithm. The problem is relevant for localization…
The invariant extended Kalman filter as a stable observer
Axel Barrau, Silvère Bonnabel
We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time…
An Invariant Linear Quadratic Gaussian controller for a simplified car
Sébastien Diemer, Silvère Bonnabel
In this paper, we consider the problem of tracking a reference trajectory for a simplified car model based on unicycle kinematics, whose position only is measured, and where the co…
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud +1
We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF an…