4 citations · 7 across the 4 of their papers we have counts for
4 papers · 2 filters
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…