3 papers
cs.RO2026
Invariant Kalman filtering for extended pose estimation in multi-IMU articulated rigid-body systems
Sven Goffin, Cédric Schwartz, Silvère Bonnabel +2
Accurate extended pose estimation (orientation, velocity, and position) for IMU-instrumented articulated rigid-body systems is a key challenge in robotics and human motion analysis…
eess.SY2025
Iterated Invariant Extended Kalman Filter (IterIEKF)
Sven Goffin, Axel Barrau, Silvère Bonnabel +2
We study the mathematical properties of the Invariant Extended Kalman Filter (IEKF) when iterating on the measurement update step, following the principles of the well-known Iterat…
eess.SY2024
Invariant Kalman Filtering with Noise-Free Pseudo-Measurements
Sven Goffin, Silvère Bonnabel, Olivier Brüls +1
In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those con…