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An EKF-SLAM algorithm with consistency properties
Axel Barrau, Silvere Bonnabel
In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame. We prove o…
An intrinsic Cramér-Rao bound on Lie groups
Silvère Bonnabel, Axel Barrau
In his 2005 paper, S.T. Smith proposed an intrinsic Cramér-Rao bound on the variance of estimators of a parameter defined on a Riemannian manifold. In the present technical note, w…
Invariant EKF Design for Scan Matching-aided Localization
Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud +1
Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtaine…
An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering
Silvère Bonnabel, Axel Barrau
In this note an intrinsic version of the Cramér-Rao bound on estimation accuracy is established on the Special Orthogonal group . It is intrinsic in the sense that it does n…