152 citations · 309 across the 7 of their papers we have counts for
4 papers · 1 filter
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)…