no code implementations • 16 Apr 2024 • Sven Goffin, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
We relate the constraints to group-theoretic properties and study the behavior of the IEKF in the presence of such noise-free measurements.
no code implementations • 16 Apr 2024 • Sven Goffin, Axel Barrau, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
In this paper, we introduce the Iterated Invariant Extended Kalman Filter (IIEKF), which is an invariant extended Kalman filter (IEKF) where the updated state in the light of the latest measurement is defined as a maximum a posteriori (MAP) estimate.
no code implementations • 3 Oct 2023 • Marc Lambert, Silvère Bonnabel, Francis Bach
The solution to this last proximal loss is given by implicit updates on the mean and covariance that we proposed earlier.
1 code implementation • 31 May 2022 • Marc Lambert, Sinho Chewi, Francis Bach, Silvère Bonnabel, Philippe Rigollet
Along with Markov chain Monte Carlo (MCMC) methods, variational inference (VI) has emerged as a central computational approach to large-scale Bayesian inference.
1 code implementation • 28 Jul 2020 • Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel
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 ''extended pose''.
Robotics
2 code implementations • 12 Apr 2019 • 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).
no code implementations • 16 Oct 2014 • Silvère Bonnabel, Martin Barczyk, François Goulette
This paper considers the problem of estimating the covariance of roto-translations computed by the Iterative Closest Point (ICP) algorithm.
3 code implementations • 6 Oct 2014 • Axel Barrau, Silvère Bonnabel
We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations.
Systems and Control