13 citations · 13 across the 1 of their papers we have counts for
10 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…
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…
Galilean Symmetry in Robotics
Robert Mahony, Jonathan Kelly, Stephan Weiss
Galilean symmetry is the natural symmetry of inertial motion that underpins Newtonian physics. Although rigid-body symmetry is one of the most established and fundamental tools in…
Hybrid Autonomy Framework for a Future Mars Science Helicopter
Luca Di Pierno, Robert Hewitt, Stephan Weiss +1
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Heli…
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…