4 citations · 9 across the 19 of their papers we have counts for
6 papers · 1 filter
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…
Bayesian Filtering for Homography Estimation
Arturo Del Castillo Bernal, Philippe Decoste, James Richard Forbes
This paper considers homography estimation in a Bayesian filtering framework using rate gyro and camera measurements. The use of rate gyro measurements facilitates a more reliable…
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of th…
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay +1
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result o…
Data-Driven Batch Localization and SLAM Using Koopman Linearization
Zi Cong Guo, Frederike Dümbgen, James R. Forbes +1
We present a framework for model-free batch localization and SLAM. We use lifting functions to map a control-affine system into a high-dimensional space, where both the process mod…