4 citations · 5 across the 4 of their papers we have counts for
4 papers
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…
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…
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…
Simulation-based Bayesian inference for robotic grasping
Norman Marlier, Olivier Brüls, Gilles Louppe
General robotic grippers are challenging to control because of their rich nonsmooth contact dynamics and the many sources of uncertainties due to the environment or sensor noise. I…