Showing 2026Show all
3 papers · 1 filter
eess.SY2026
Reduced Order Observers for Monocular Visual Inertial Odometry
Amel Abi, Mouaad Boughellaba, Miaomiao Wang +1
This work develops a reduced order observer framework of monocular visual-inertial odometry (VIO). The key idea consists in considering the gravity vector in the body-frame as an a…
eess.SY2026
Velocity-free Attitude Synchronization Using Vector Measurements
Melika Afshari, Mouaad Boughellaba, Abdelhamid Tayebi
This paper addresses the velocity-free leaderless and leader--follower distributed attitude synchronization of a network of rigid body systems, with inertial vector measurements, u…
eess.SY2026
Nonlinear Observer Design for Visual-Inertial Odometry
Mouaad Boughellaba, Abdelhamid Tayebi, James R. Forbes +1
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, deno…