An EKF-SLAM algorithm with consistency properties

21 October 2015

Axel Barrau

Silvere Bonnabel

Papers citing "An EKF-SLAM algorithm with consistency properties"

20 / 20 papers shown

Title
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 45 1 0 31 Oct 2024
3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization Kaustubh Joshi Tianchen Liu Alan Williams Matthew Gray Xiaomin Lin Nikhil Chopra 21 3 0 17 Sep 2024
PLV-IEKF: Consistent Visual-Inertial Odometry using Points, Lines, and Vanishing Points Tong Hua Tao Li Liang Pang Guoqing Liu Wencheng Xuanyuan Chang Shu Ling Pei 31 3 0 08 Nov 2023
PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter Tong Hua Tao Li Ling Pei 22 7 0 14 Mar 2023
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version) Daniil Lisus Mitchell R. Cohen James Richard Forbes 17 7 0 13 Dec 2022
InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry Changwu Liu Chengping Jiang Haowen Wang 17 27 0 27 Oct 2022
A Look at Improving Robustness in Visual-inertial SLAM by Moment Matching Arno Solin Ruixiao Li Andrea Pilzer 16 1 0 27 May 2022
EqVIO: An Equivariant Filter for Visual Inertial Odometry Pieter van Goor Robert E. Mahony 25 32 0 04 May 2022
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design Zhuqing Zhang Yang Song Shoudong Huang R. Xiong Yue Wang 36 11 0 26 Apr 2022
The Geometry of Navigation Problems Axel Barrau Silvere Bonnabel 17 29 0 12 Jan 2022
An Equivariant Filter for Visual Inertial Odometry Pieter van Goor Robert E. Mahony 11 22 0 08 Apr 2021
Inertial based Integration with Transformed INS Mechanization in Earth Frame Lubin Chang Jingbo Di F. Qin 24 52 0 03 Mar 2021
Strapdown Inertial Navigation System Initial Alignment based on Group of Double Direct Spatial Isometries Lubin Chang F. Qin Jiangning Xu LLMSV 10 56 0 25 Feb 2021
The Geometry and Kinematics of the Matrix Lie Group $SE_K(3)$ Yarong Luo Mengyuan Wang Chi Guo 25 11 0 02 Dec 2020
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) Martin Brossard Axel Barrau Silvere Bonnabel 20 39 0 03 Feb 2020
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM Martin Brossard Axel Barrau Silvère Bonnabel 7 43 0 13 Mar 2019
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation R. Hartley Maani Ghaffari Jadidi J. Grizzle Ryan Eustice 19 52 0 26 May 2018
Invariant Smoothing on Lie Groups Paul Chauchat Axel Barrau Silvère Bonnabel 16 27 0 06 Mar 2018
An Invariant-EKF VINS Algorithm for Improving Consistency Teng Zhang Kanzhi Wu Daobilige Su Shoudong Huang G. Dissanayake 40 90 0 25 Feb 2017
Invariant EKF Design for Scan Matching-aided Localization Martin Barczyk Silvère Bonnabel Jean-Emmanuel Deschaud F. Goulette 48 48 0 04 Mar 2015