Silvère Bonnabel

SIAM J. Matrix Anal. Appl., 2024

Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm.

[BibT_eX]

[DOI]

CoRR, 2024

Iterated Invariant Extended Kalman Filter (IIEKF).

[BibT_eX]

[DOI]

CoRR, 2024

Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing.

[BibT_eX]

[DOI]

Jonas Benhamou

Camille Chapdelaine

CoRR, 2024

2023

Speeding-Up Backpropagation of Gradients Through the Kalman Filter via Closed-Form Expressions.

[BibT_eX]

[DOI]

Colin Parellier

IEEE Trans. Autom. Control., December, 2023

The limited-memory recursive variational Gaussian approximation (L-RVGA).

[BibT_eX]

[DOI]

Stat. Comput., June, 2023

Real-time Classification of Aircrafts Manoeuvers.

[BibT_eX]

[DOI]

Sami Jouaber

Santiago Velasco-Forero

Jesús Angulo

J. Signal Process. Syst., April, 2023

The Geometry of Navigation Problems.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., February, 2023

Invariant Smoothing for Localization: Including the IMU Biases.

[BibT_eX]

[DOI]

CoRR, 2023

Variational Gaussian Approximation of the Kushner Optimal Filter.

[BibT_eX]

[DOI]

Proceedings of the Geometric Science of Information - 6th International Conference, 2023

A Computationally Efficient Global Indicator to Detect Spurious Measurement Drifts in Kalman Filtering.

[BibT_eX]

[DOI]

Colin Parellier

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Invariant Kalman Filtering with Noise-Free Pseudo-Measurements.

[BibT_eX]

[DOI]

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Optimal Active Sensing Control for Two-Frame Systems.

[BibT_eX]

[DOI]

Jonas Benhamou

Camille Chapdelaine

Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

2022

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

The recursive variational Gaussian approximation (R-VGA).

[BibT_eX]

[DOI]

Stat. Comput., 2022

Variational inference via Wasserstein gradient flows.

[BibT_eX]

[DOI]

Proceedings of the Advances in Neural Information Processing Systems 35: Annual Conference on Neural Information Processing Systems 2022, 2022

The continuous-discrete variational Kalman filter (CD-VKF).

[BibT_eX]

[DOI]

Proceedings of the 61st IEEE Conference on Decision and Control, 2022

Invariant Smoothing with low process noise.

[BibT_eX]

[DOI]

Proceedings of the 61st IEEE Conference on Decision and Control, 2022

2021

Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2021

NNAKF: A Neural Network Adapted Kalman Filter for Target Tracking.

[BibT_eX]

[DOI]

Sami Jouaber

Santiago Velasco-Forero

Proceedings of the IEEE International Conference on Acoustics, 2021

2020

AI-IMU Dead-Reckoning.

[BibT_eX]

[DOI]

IEEE Trans. Intell. Veh., 2020

Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2020

On Stability of a Class of Filters for Nonlinear Stochastic Systems.

[BibT_eX]

[DOI]

SIAM J. Control. Optim., 2020

Denoising IMU Gyroscopes With Deep Learning for Open-Loop Attitude Estimation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

A New Approach to 3D ICP Covariance Estimation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

A real-time unscented Kalman filter on manifolds for challenging AUV navigation.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

A Code for Unscented Kalman Filtering on Manifolds (UKF-M).

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Mathematical Framework for IMU Error Propagation with Applications to Preintegration.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Linear observed systems on groups.

[BibT_eX]

[DOI]

Syst. Control. Lett., 2019

A New Approach to 3D ICP Covariance Estimation for Mobile Robotics.

[BibT_eX]

[DOI]

CoRR, 2019

Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM.

[BibT_eX]

[DOI]

CoRR, 2019

RINS-W: Robust Inertial Navigation System on Wheels.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning Wheel Odometry and IMU Errors for Localization.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Acoustics, 2019

2018

Symmetry reduction for dynamic programming.

[BibT_eX]

[DOI]

Autom., 2018

Invariant Kalman Filtering.

[BibT_eX]

[DOI]

Annu. Rev. Control. Robotics Auton. Syst., 2018

Invariant smoothing on Lie Groups.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Invariant Kalman Filtering for Visual Inertial SLAM.

[BibT_eX]

[DOI]

Proceedings of the 21st International Conference on Information Fusion, 2018

Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs.

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

Stochastic observers on Lie groups: a tutorial.

[BibT_eX]

[DOI]

Proceedings of the 57th IEEE Conference on Decision and Control, 2018

2017

The Invariant Extended Kalman Filter as a Stable Observer.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2017

Unscented Kalman filtering on Lie groups.

[BibT_eX]

[DOI]

Jean-Philippe Condomines

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Drone Tracking Using an Innovative UKF.

[BibT_eX]

[DOI]

Frédéric Barbaresco

Proceedings of the Geometric Science of Information - Third International Conference, 2017

Particle Observers for Contracting Dynamical Systems.

[BibT_eX]

[DOI]

Proceedings of the Geometric Science of Information - Third International Conference, 2017

Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D.

[BibT_eX]

[DOI]

Frédéric Barbaresco

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Kalman filtering with a class of geometric state equality constraints.

[BibT_eX]

[DOI]

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

Symmetry reduction for dynamic programming and application to MRI.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

On the covariance of ICP-based scan-matching techniques.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

2015

Invariant EKF Design for Scan Matching-Aided Localization.

[BibT_eX]

[DOI]

Jean-Emmanuel Deschaud

IEEE Trans. Control. Syst. Technol., 2015

A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2015

Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2015

An EKF-SLAM algorithm with consistency properties.

[BibT_eX]

[DOI]

CoRR, 2015

An invariant Linear Quadratic Gaussian controller for a simplified car.

[BibT_eX]

[DOI]

Sebastien Diemer

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

An Intrinsic Cramér-Rao Bound on Lie Groups.

[BibT_eX]

[DOI]

Proceedings of the Geometric Science of Information - Second International Conference, 2015

An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering.

[BibT_eX]

[DOI]

Proceedings of the 54th IEEE Conference on Decision and Control, 2015

Invariant filtering for Pose EKF-SLAM aided by an IMU.

[BibT_eX]

[DOI]

Proceedings of the 54th IEEE Conference on Decision and Control, 2015

2014

Humanoid Robot Navigation: Getting Localization Information from Vision.

[BibT_eX]

[DOI]

Émilie Wirbel

Fabien Moutarde

J. Intell. Syst., 2014

Anisotropy Preserving DTI Processing.

[BibT_eX]

[DOI]

Int. J. Comput. Vis., 2014

Fixed-rank matrix factorizations and Riemannian low-rank optimization.

[BibT_eX]

[DOI]

Comput. Stat., 2014

Observability, Covariance and Uncertainty of ICP Scan Matching.

[BibT_eX]

[DOI]

CoRR, 2014

Priority-based intersection management with kinodynamic constraints.

[BibT_eX]

[DOI]

Jean Gregoire

Proceedings of the 13th European Control Conference, 2014

Invariant particle filtering with application to localization.

[BibT_eX]

[DOI]

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM.

[BibT_eX]

[DOI]

Jean-Emmanuel Deschaud

Proceedings of the American Control Conference, 2014

2013

Stochastic Gradient Descent on Riemannian Manifolds.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2013

Optimal cooperative motion planning for vehicles at intersections.

[BibT_eX]

[DOI]

Jean Gregoire

CoRR, 2013

Priority-based coordination of robots.

[BibT_eX]

[DOI]

Jean Gregoire

CoRR, 2013

Humanoid robot navigation: From a visual SLAM to a visual compass.

[BibT_eX]

[DOI]

Émilie Wirbel

Bruno Steux

Proceedings of 10th IEEE International Conference on Networking, Sensing and Control, 2013

A Note on the Intrinsic Cramer-Rao Bound.

[BibT_eX]

[DOI]

Proceedings of the Geometric Science of Information - First International Conference, 2013

Contraction-based design of positive observers.

[BibT_eX]

[DOI]

Thach Ngoc Dinh

Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

Intrinsic filtering on SO(3) with discrete-time observations.

[BibT_eX]

[DOI]

Proceedings of the 52nd IEEE Conference on Decision and Control, 2013

2012

A contraction theory-based analysis of the stability of the Extended Kalman Filter

[BibT_eX]

[DOI]

CoRR, 2012

An anisotropy preserving metric for DTI processing

[BibT_eX]

[DOI]

CoRR, 2012

The geometry of low-rank Kalman filters

[BibT_eX]

[DOI]

CoRR, 2012

Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering.

[BibT_eX]

[DOI]

Thibault Hervier

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

2011

Symmetry-Based Observers for Some Water-Tank Problems.

[BibT_eX]

[DOI]

Didier Auroux

IEEE Trans. Autom. Control., 2011

Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach.

[BibT_eX]

[DOI]

Gilles Meyer

J. Mach. Learn. Res., 2011

Symmetries in observer design: review of some recent results and applications to EKF-based SLAM

[BibT_eX]

[DOI]

CoRR, 2011

Linear Regression under Fixed-Rank Constraints: A Riemannian Approach.

[BibT_eX]

[DOI]

Gilles Meyer

Proceedings of the 28th International Conference on Machine Learning, 2011

A simple nonlinear filter for low-cost ground vehicle localization system.

[BibT_eX]

[DOI]

Jean-Emmanuel Deschaud

Erwan Salaün

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Contraction and observer design on cones.

[BibT_eX]

[DOI]

Alessandro Astolfi

Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

2010

Coordinated Motion Design on Lie Groups.

[BibT_eX]

[DOI]

Alain Sarlette

IEEE Trans. Autom. Control., 2010

A Simple Intrinsic Reduced-Observer for Geodesic Flow.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2010

2009

Non-Linear Symmetry-Preserving Observers on Lie Groups.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2009

Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank.

[BibT_eX]

[DOI]

SIAM J. Matrix Anal. Appl., 2009

Observer-based Hamiltonian identification for quantum systems.

[BibT_eX]

[DOI]

Mazyar Mirrahimi

Autom., 2009

Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem.

[BibT_eX]

[DOI]

Erwan Salaün

Proceedings of the 48th IEEE Conference on Decision and Control, 2009

2008

Symmetry-Preserving Observers.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2008

Coordination on Lie groups.

[BibT_eX]

[DOI]

Alain Sarlette

Proceedings of the 47th IEEE Conference on Decision and Control, 2008

2007

Left-invariant extended Kalman filter and attitude estimation.

[BibT_eX]

[DOI]

Proceedings of the 46th IEEE Conference on Decision and Control, 2007

2006

A non-linear symmetry-preserving observer for velocity-aided inertial navigation.

[BibT_eX]

[DOI]