359 citations · 1.4k across the 40 of their papers we have counts for
5 papers · 1 filter
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization
Paul Chauchat, Axel Barrau, Silvère Bonnabel
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as na…
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
Martin Brossard, Axel Barrau, Paul Chauchat +1
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extend…
A Code for Unscented Kalman Filtering on Manifolds (UKF-M)
Martin Brossard, Axel Barrau, Silvere Bonnabel
The present paper introduces a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends previous work by the authors on UKF on Lie groups. Beyond filtering…
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration
Axel Barrau, Silvere Bonnabel
To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a…
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation
Martin Brossard, Silvere Bonnabel, Axel Barrau
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude)…