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03/24/2023
The limited-memory recursive variational Gaussian approximation (L-RVGA)
We consider the problem of computing a Gaussian approximation to the pos...
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05/31/2022
Variational inference via Wasserstein gradient flows
Along with Markov chain Monte Carlo (MCMC) methods, variational inferenc...
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04/05/2022
Invariant Smoothing with low process noise
In this paper we address smoothing-that is, optimisation-based-estimatio...
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01/12/2022
The Geometry of Navigation Problems
While many works exploiting an existing Lie group structure have been pr...
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09/22/2020
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization
We consider the problem of localizing a manned, semi-autonomous, or auto...
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07/28/2020
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
The recently introduced matrix group SE2(3) provides a 5x5 matrix repres...
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03/09/2020
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration
To fuse information from inertial measurement units (IMU) with other sen...
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02/25/2020
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation
This paper proposes a learning method for denois-ing gyroscopes of Inert...
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02/03/2020
A Code for Unscented Kalman Filtering on Manifolds (UKF-M)
The present paper introduces a novel methodology for Unscented Kalman Fi...
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09/12/2019
A New Approach to 3D ICP Covariance Estimation for Mobile Robotics
In mobile robotics, scan matching of point clouds using Iterative Closes...
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04/12/2019
AI-IMU Dead-Reckoning
In this paper we propose a novel accurate method for dead-reckoning of w...
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03/13/2019
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM
The Extended Kalman Filter (EKF) is both the historical algorithm for mu...
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03/06/2019
RINS-W: Robust Inertial Navigation System on Wheels
This paper proposes a real-time approach for long-term inertial navigati...
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09/15/2018
On stability of a class of filters for non-linear stochastic systems
This article considers stability properties of a broad class of commonly...
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03/06/2018
Invariant Smoothing on Lie Groups
In this paper we propose a (non-linear) smoothing algorithm for group-af...
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10/16/2014
On the Covariance of ICP-based Scan-matching Techniques
This paper considers the problem of estimating the covariance of roto-tr...
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10/10/2012
An anisotropy preserving metric for DTI processing
Statistical analysis of Diffusion Tensor Imaging (DTI) data requires a c...
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11/22/2011