25 citations · 26 across the 4 of their papers we have counts for
6 papers
Correction to:"Position estimation from direction or range measurements"
Tarek Hamel, Minh-Duc Hua, Claude Samson
This technical communiqué aims at correcting an erroneous statement (Lemma 2.4) in an earlier paper by the same authors concerning a sufficient condition of uniform observability f…
Equivariant Systems Theory and Observer Design
Robert Mahony, Tarek Hamel, Jochen Trumpf
A wide range of system models in modern robotics and avionics applications admit natural symmetries. Such systems are termed equivariant and the structure provided by the symmetry…
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance
Pieter van Goor, Robert Mahony, Tarek Hamel +1
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter…
An Equivariant Observer Design for Visual Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a c…
Riccati observers for velocity-aided attitude estimation of accelerated vehicles using coupled velocity measurements
Minh-Duc Hua, Tarek Hamel, Claude Samson
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a bod…
Feature-based Recursive Observer Design for Homography Estimation
Minh-Duc Hua, Jochen Trumpf, Tarek Hamel +2
This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. T…