152 citations · 309 across the 7 of their papers we have counts for
10 papers
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
Martin Brossard, Axel Barrau, Paul Chauchat +1
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extend…
A Code for Unscented Kalman Filtering on Manifolds (UKF-M)
Martin Brossard, Axel Barrau, Silvere Bonnabel
The present paper introduces a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends previous work by the authors on UKF on Lie groups. Beyond filtering…
Multi-frequency calibration for DOA estimation with distributed sensors
Martin Brossard, Virginie Ollier, Mohammed Nabil El Korso +2
In this work, we investigate direction finding in the presence of sensor gain uncertainties and directional perturbations for sensor array processing in a multi-frequency scenario.…
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation
Martin Brossard, Silvere Bonnabel, Axel Barrau
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude)…
A New Approach to 3D ICP Covariance Estimation
Martin Brossard, Silvere Bonnabel, Axel Barrau
In mobile robotics, scan matching of point clouds using Iterative Closest Point (ICP) allows estimating sensor displacements. It may prove important to assess the associated uncert…
AI-IMU Dead-Reckoning
Martin Brossard, Axel Barrau, Silvère Bonnabel
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, ro…
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM
Martin Brossard, Axel Barrau, Silvère Bonnabel
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inco…
RINS-W: Robust Inertial Navigation System on Wheels
Martin Brossard, Axel Barrau, Silvere Bonnabel
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds…
Parallel Calibration for Sensor Array Radio Interferometers
Martin Brossard, Mohammed Nabil El Korso, Marius Pesavento +3
In order to meet the theoretically achievable imaging performance, calibration of modern radio interferometers is a mandatory challenge, especially at low frequencies. In this pers…
Calibration of Radio Interferometers Using a Sparse DoA Estimation Framework
Martin Brossard, Mohamed Nabil El Korso, Marius Pesavento +2
The calibration of modern radio interferometers is a significant challenge, specifically at low frequencies. In this perspective, we propose a novel iterative calibration algorithm…