3 papers
eess.SY2026
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude
Pieter van Goor, Tarek Hamel, Robert Mahony
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) mea…
cs.RO2026
EqVIO: An Equivariant Filter for Visual Inertial Odometry
Pieter van Goor, Robert Mahony
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great inte…
eess.SY2026
Constructive Observer Design for Visual Simultaneous Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by liftin…