16 citations · 29 across the 3 of their papers we have counts for
8 papers
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators
Christian Brommer, Alessandro Fornasier, Martin Scheiber +4
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust…
Equivariant Filter for Radar-Inertial Odometry
Giulio Delama, Jan Michalczyk, Morten Nissov +4
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is se…
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss +2
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization…
The Difference between the Left and Right Invariant Extended Kalman Filter
Yixiao Ge, Giulio Delama, Martin Scheiber +4
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent dev…
Equivariant IMU Preintegration with Biases: a Galilean Group Approach
Giulio Delama, Alessandro Fornasier, Robert Mahony +1
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial…
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds
Alexander Raab, Stephan Weiss, Alessandro Fornasier +2
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extend…